Object Manipulation Planning for Dextrous Robot Systems
نویسندگان
چکیده
منابع مشابه
The Planning and Control of Robot Dextrous Manipultation
Dextrous manipulation is a fundamental problem in the study of multi ngered robotic hands. Given a robotic hand and an object to be manipulated by the hand in an environment lled with obstacles, the main objectives of dextrous manipulation are to have the hand grasp the object and transfer it from a start con guration to a goal con guration without collision. To ful ll such a task in general, w...
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Dextrous manipulation planning is a problem of paramount importance in the study of multi ngered robotic hands. In this paper, we show in general, that all system variables (the nger joint, object,and contact velocities) need to be included in the di erential kinematic equation used for manipulation planning, even if the manipulation task is only speci ed in terms of the goal con guration of th...
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Many practical dextrous manipulation tasks involve large-scale motion of the grasped object while maintaining a stable grasp. To plan such tasks, one must control both the motion of the object and the contact locations, while also adhering to the workspace constraints typical of multingered hands. In this paper, we integrate the relevant theories of contact kinematics, nonholonomic motion plann...
متن کاملDextrous manipulation with rolling contacts
Dextrous manipulation is a problem of paramount importance in the study of multi ngered robotic hands. Given a grasped object, the main objectives are: (a) generate trajectories for the nger joints so that through the e ects of contact constraints, the object can be transferred to a goal grasp con guration; and (b) derive control algorithms to realize planned trajectories. In this paper, we int...
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This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...
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تاریخ انتشار 2007