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dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.authorSierra, Xavier
dc.contributor.authorPalomo Avellaneda, Leopold
dc.contributor.authorSuárez Feijóo, Raúl
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.date.accessioned2006-11-20T12:04:52Z
dc.date.available2006-11-20T12:04:52Z
dc.date.issued2004-10
dc.identifier.urihttp://hdl.handle.net/2117/566
dc.description.abstractGiven an industrial robot equipped with a dexterous hand and an object to be grasped with four grasping points determined on its faces, this paper deals with the problem of finding the joint configurations that allow to grasp that object. The proposed solution is based on an iterative optimization method that consecutively moves the joint that best contributes to reduce the distance of the fingertips to the desired locations. The method is particularized for a Stäubli RX90 robot and a dexterous hand MA-I with four fingers developed at the IOC’s Robotics Lab.
dc.format.extent10
dc.language.isoeng
dc.relation.ispartofseriesIOC-DT-P
dc.relation.ispartofseries2004-14
dc.rightsAttribution-NonCommercial-NoDerivs 2.5 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/2.5/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots control system
dc.subject.otherGrasping
dc.titleFinding grasping configurations of a dexterous hand and an industrial robot
dc.typeExternal research report
dc.subject.lemacRobòtica -- Informes tècnics
dc.rights.accessOpen Access
dc.relation.projectidcttDPI2004-03104
dc.relation.projectidcttDPI2002-03540


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Except where otherwise noted, content on this work is licensed under a Creative Commons license: Attribution-NonCommercial-NoDerivs 2.5 Spain