Robotic Manipulation Project Block-Stacking using a Multi-fingered Manipulator
نویسنده
چکیده
The DaVinci Simulator can be used to analyze the stacking process using different forces and different placements of the fingers. An existing code for block-stacking simulates free fall of blocks. However, a free fall cannot be quasi-static. So, a modified code has been written to include additional forces (applied by the robot fingers) which act opposite to the gravitational force to enable quasi-static lifting of blocks.
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