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Grasp analysis and synthesis of 2D articulated objects with 2 and 3 links
dc.contributor.author | Alvarado Tovar, Noé |
dc.contributor.author | Suárez Feijóo, Raúl |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.date.accessioned | 2014-01-02T12:33:21Z |
dc.date.created | 2013 |
dc.date.issued | 2013 |
dc.identifier.citation | Alvarado, N.; Suarez, R. Grasp analysis and synthesis of 2D articulated objects with 2 and 3 links. A: IEEE International Conference on Emerging Technologies and Factory Automation. "18th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA'13". Cagliari: 2013, p. 1-8. |
dc.identifier.isbn | 978-1-4799-0862-2 |
dc.identifier.uri | http://hdl.handle.net/2117/21125 |
dc.description.abstract | This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with 2 and 3 links considering frictionless contacts. The boundary of each link of the object is represented with a finite set of points. The grasp analysis is carried out to verify whether a set of contact points on the object boundary allows a force-closure grasp. The grasp synthesis implies the determination of a set of contact points that allows a force-closure grasp. The paper describes how to find the elements of the generalized wrench vector generated by a force applied on any link of the articulated object. The approach have been implemented and some illustrative examples are included in the paper. |
dc.format.extent | 8 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Manipulators (Mecanism) |
dc.title | Grasp analysis and synthesis of 2D articulated objects with 2 and 3 links |
dc.type | Conference report |
dc.subject.lemac | Manipuladors (Mecanismes) |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.identifier.doi | 10.1109/ETFA.2013.6648034 |
dc.relation.publisherversion | http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6648034&refinements%3D4281672655%26queryText%3DETFA+2013 |
dc.rights.access | Open Access |
local.identifier.drac | 12934639 |
dc.description.version | Postprint (author’s final draft) |
dc.date.lift | 10000-01-01 |
local.citation.author | Alvarado, N.; Suarez, R. |
local.citation.contributor | IEEE International Conference on Emerging Technologies and Factory Automation |
local.citation.pubplace | Cagliari |
local.citation.publicationName | 18th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA'13 |
local.citation.startingPage | 1 |
local.citation.endingPage | 8 |