In-Hand Manipulative Synthesis Using Velocity Subspaces
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10.1007/978-3-319-56802-7_25
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/362710
Tipus de documentText en actes de congrés
Data publicació2016
EditorSpringer
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
The kinematic design of robots for tasks involving positions and its derivatives has been explored in the past in order to shape the trajectory of the robot at a given set of points. This approach has been successful for the synthesis of linkages; however defining a single velocity in the vicinity of a specified location might not be enough for a desired task. In the design of multi-fingered robotic hands, it is interesting to ask whether a hand can be designed for a certain in-hand manipulation that ensures contact and at the same time relative motion of the fingertips on the object surface. In this article we define a method for designing robotic hands that guide an object through a kinematic task with velocity specifications in the vicinity of key task positions. Given the mobility for a hand topology, the necessary velocities are derived at each task position to fully define the subspace of allowable directions for object manipulation. As an example, a multi-fingered robotic hand for grasping and manipulating an object with a known geometry has been designed. The proposed synthesis technique can be used to create a velocity field associated to a desired trajectory, or to fully specify the allowable velocities, or the tangent space at each position, to successfully guide the object with specified constraints.
CitacióHassanzadeh, N. [et al.]. In-Hand Manipulative Synthesis Using Velocity Subspaces. A: International Conference on Advances in Robot Kinematics. "Advances in Robot Kinematics 2016". Berlín: Springer, 2016, p. 235-244. ISBN 978-3-319-56801-0. DOI 10.1007/978-3-319-56802-7_25.
ISBN978-3-319-56801-0
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ARK2016-Vel.pdf | 972,6Kb | Accés restringit |