Grasp analysis and synthesis of 2D articulated objects with n links
This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with n links considering frictionless contacts. The boundary of each link of the object is represented by a finite set of boundary points allowing links of any shape to be considered. Grasp analys...
| Autores: | , |
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| Formato: | artículo |
| Fecha de publicación: | 2015 |
| País: | España |
| Recursos: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/26694 |
| Acesso em linha: | https://hdl.handle.net/2117/26694 https://dx.doi.org/10.1016/j.rcim.2014.08.007 |
| Access Level: | acceso abierto |
| Palavra-chave: | Robot hands Grasping Force-closure grasps Grasp analysis Grasp synthesis FORM-CLOSURE GRASPS POLYGONS Mans mecàniques Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Resumo: | This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with n links considering frictionless contacts. The boundary of each link of the object is represented by a finite set of boundary points allowing links of any shape to be considered. Grasp analysis is carried out to verify whether a set of contact points on the object boundary allows a force-closure grasp, while the goal of grasp synthesis is to determine a set of contact points that allows a force-closure grasp. The paper describes the process of finding the elements of the generalized wrench vector generated by a force applied to any link of the articulated object and a procedure to search for a force-closure grasp based on these generalized wrenches. The approach has been implemented and some examples are included in the paper. (C) 2014 Elsevier Ltd. All rights reserved. |
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