Optimal contact point placement and reconfiguration for dextrous manipulation

Vass, G; Toth, E [Tóth, Ervin (irányítástechnika), szerző] Irányítástechnika és Informatika Tanszék (BME / VIK)

Angol nyelvű Tudományos Konferenciaközlemény (Könyvrészlet)
    This paper presents a contact point placement and recon#?#figuration algorithm, which is used in an experimental control system of an industrial robot equipped with a dextrous hand. In the #?#first stage, the contact points are located on the surface of the object. After the grasping, the object can be reconfigured. The purpose of the method is to displace the object from the initial grasp con#?#figuration into a desired position and orientation. The grasp planner takes into account the properties of the object, e.g. frictional coefficient, parts of its surface that can be touched, and orientation constraints. Furthermore, it considers the obstacles around the object with respect to the position of the robot arm before grasping the object.
    Hivatkozás stílusok: IEEEACMAPAChicagoHarvardCSLMásolásNyomtatás
    2021-03-05 05:27