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Synthesis of 4-frictionless optimal grasp of polygonal objects
dc.contributor.author | Cornellà Medrano, Jordi |
dc.contributor.author | Suárez Feijóo, Raúl |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.date.accessioned | 2006-07-18T13:16:35Z |
dc.date.available | 2006-07-18T13:16:35Z |
dc.date.issued | 2006-06 |
dc.identifier.uri | http://hdl.handle.net/2117/467 |
dc.description.abstract | The paper proposes a new approach to the problem of determining optimal form-closure grasps of polygonal objects using four frictionless contacts. A new set of grasp parameters is determined based only on the directions of the applied forces. These parameters are used to obtain a new formulation of the necessary and sufficient condition for the existence of four-finger frictionless form-closure grasps, as well as to determine the optimal grasp. Given a set of contact edges, using an analytical procedure a solution that is either the optimal one or is very close to it is obtained (only in this second case an iterative procedure is needed to fins a root of a non-linear equation). This procedure is the used for an efficient determination of the optimal grasp on the whole object. The algorithms have been implemented and numerical examples are shown |
dc.format.extent | 30 |
dc.language.iso | eng |
dc.relation.ispartofseries | IOC-DT-P |
dc.relation.ispartofseries | 2006-21 |
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 | Manipulators (Mechanisms) |
dc.subject.other | Grasp synthesis |
dc.subject.other | Optimal grasps |
dc.subject.other | Form-closure |
dc.subject.other | Intrinsic grasp parameters |
dc.subject.other | Fixture design |
dc.subject.other | Sintesis de prensions |
dc.subject.other | Prensions òptimes |
dc.subject.other | Paràmetres d'una prensió |
dc.subject.other | Disseny de fixacions |
dc.subject.other | Sintesis de prensiones |
dc.subject.other | Prensiones óptimas |
dc.subject.other | Parámetros de una prensión |
dc.subject.other | Diseño de fijaciones |
dc.title | Synthesis of 4-frictionless optimal grasp of polygonal objects |
dc.type | External research report |
dc.subject.lemac | Robòtica -- Informes tècnics |
dc.subject.lemac | Manipuladors (Mecanismes) -- Informes tècnics |
dc.rights.access | Open Access |
dc.relation.projectidctt | CICYT DPI2004-03104 |
dc.relation.projectidctt | CICYT DPI2005-00112 |
local.personalitzacitacio | true |
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