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Contact force transitions in regrasp tasks of planar objects
dc.contributor.author | Grosch Obregon, Patrick John |
dc.contributor.author | Suárez Feijóo, Raúl |
dc.contributor.author | Carloni, Raffaella |
dc.contributor.author | Melchiorri, Claudio |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.date.accessioned | 2007-12-21T10:32:42Z |
dc.date.available | 2007-12-21T10:32:42Z |
dc.date.issued | 2007-07-07 |
dc.identifier.uri | http://hdl.handle.net/2117/1447 |
dc.description.abstract | This paper presents a simple and fast solution to the problem of finding the time variations of the forces that keep the object equilibrium when a finger is removed from a three contact point grasp or a finger is added to a two contact point grasp, assuming the existence of an external perturbation force (that can be the object weight itself). The procedure returns force set points for the control system of a manipulator device in a regrasping action. The approach was implemented and a numerical example is included in the paper to illustrate how it works. |
dc.format.extent | 7 p. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 2.5 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/2.5/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robotics |
dc.subject.other | Contact force |
dc.subject.other | Força de contacte |
dc.subject.other | Fuerza de contacto |
dc.subject.other | Grasping |
dc.subject.other | Prensió |
dc.subject.other | Sujeción |
dc.subject.other | Planar objects |
dc.title | Contact force transitions in regrasp tasks of planar objects |
dc.type | External research report |
dc.subject.lemac | Robòtica -- Informes |
dc.rights.access | Open Access |
dc.relation.projectidctt | CICYT DPI2004-03104 |
dc.relation.projectidctt | CICYT DPI2005-00112 |
dc.relation.projectidctt | Acción integrada HI2005-0290 |
local.personalitzacitacio | true |
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