Determination of seven frictionless fixturing points searching the object surface with a homogeneous deterministic distribution
The paper deals whit the problem of finding a form-closure fixturing of objects modeled whit triangular meshes and considering as quality measure the maximum wrench that the object can resist in any direction. Although a triangular mesh is a polyhedral representation of the object, the number of fac...
| Autores: | , |
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| Tipo de documento: | relatório científico |
| Data de publicação: | 2007 |
| País: | España |
| Recursos: | Universitat Politècnica de Catalunya (UPC) |
| Repositório: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglês |
| OAI Identifier: | oai:upcommons.upc.edu:2117/746 |
| Acesso em linha: | https://hdl.handle.net/2117/746 |
| Access Level: | Acceso aberto |
| Palavra-chave: | Robot hands Robots Grasping Prensió d'objectes Prensión de objetos Manipulación de objetos Manipulació d'objectes Robots -- Sistemes de control -- Informes tècnics Manipuladors (Mecanismes) -- Informes tècnics Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Resumo: | The paper deals whit the problem of finding a form-closure fixturing of objects modeled whit triangular meshes and considering as quality measure the maximum wrench that the object can resist in any direction. Although a triangular mesh is a polyhedral representation of the object, the number of faces is too large to allow a practical application of existing approaches for polyhedral objects, and therefore some search procedure have to be applied. In the proposed approach the search of contact points is done looking for points directly on the object boundary instead of on the wrench space. In this way, all the object surface is homogeneously considered, while the quality is evaluated in the wrench space. The procedure iteratively looks, using heuristic criteria, for sets of points that improve the quality. The procedure was implemented and some application examples are included in the paper to illustrate the performance |
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