Computing grasp functions
نویسندگان
چکیده
منابع مشابه
Grasp Functions
When manipulating parts, it is important to determine the orientation of the part with respect to thegripper. This orientation may not be known precisely or may be disturbed by the act of grasping. It isin some cases possible to use mechanical compliance to orient parts during grasping. It was recentlyshown [14] that any part with polygonal boundary can be oriented and grasped i...
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When manipulating parts, it is important to determine the orientation of the part with respect to thegripper. This orientation may not be known precisely or may be disturbed by the act of grasping. It isin some cases possible to use mechanical compliance to orient parts during grasping. It was recentlyshown [14] that any part with polygonal boundary can be oriented and grasped i...
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Computation of friction forces between ngers and object for a given external force is important in grasp planning. Based on the required friction forces, the magnitudes of the grasping forces can be adjusted in order to avoid slippage of the object between ngers. A new method is presented for computing the friction forces between the ngertips of a dexterous mechanical hand and the object. Finge...
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ژورنال
عنوان ژورنال: Computational Geometry
سال: 1996
ISSN: 0925-7721
DOI: 10.1016/0925-7721(95)00022-4