This paper addresses the problem of grasp synthesis with force-closure for 3D articulated objects consisting of n links and considering frictional and non-frictional contacts. The surface of each link is represented by a finite set of points. First, the article presents a methodology to represent the generalized wrench space for an articulated 3D object with n links. This wrench space is generated by the forces applied on the links of the articulated object. Second, the algorithm that finds the set of points which allow a force-closure grasp using the generalized wrench space is described. The approach has been implemented and some illustrative examples are included in the paper. ; Postprint (published version)
Grasp synthesis of 3D articulated objects with n links
01.01.2016
Sonstige
Elektronische Ressource
Englisch
generalized wrench space , Àrees temàtiques de la UPC::Informàtica , industrial robots , Mobile robots -- Automatic control , flexible structures , n links , Robots mòbils -- Control automàtic , 3D articulated object grasp synthesis problem , nonfrictional contact , frictional contact , force-closure grasp , fixtures , Robot hands , Mans mecàniques
DDC: | 629 |
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