Independent contact regions for discretized 3D objects with frictionless contacts
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Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/748
Tipus de documentReport de recerca
Data publicació2007-03
Condicions d'accésAccés obert
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continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 2.5 Espanya
Abstract
This paper deals with the problem of determining independent contact regions on a 3D object boundary such that a seven finger frictionless grasp with a contact point in each region assures a force-closure grasp on the object, independently of the exact position of the contact points. These regions provide robustness in front of finger positioning errors in grasp and fixturing applications. The object’s structure is discretized in a cloud of points, so the procedure is applicable to objects of any arbitrary shape. The procedure finds an initial form-closure grasp that is iteratively improved through an oriented search procedure: once a locally optimum grasp has been reached, the independent contact regions are computed. The procedure has been implemented, and application examples are included in the paper.
Forma partIOC-DT-P; 2007-5
Fitxers | Descripció | Mida | Format | Visualitza |
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IOC-DT-P-2007-05.pdf | 620,8Kb | Visualitza/Obre |