Preshape Jacobians for minimum momentum grasping
نویسندگان
چکیده
This paper deals with the planning of dexterous grasps for multifingered robot hands. We derive a real-time, joint space finger path planning algorithm for the enclose phase of grasping motion. The algorithm minimizes the impact momentum of the hand. It uses a PreshapeJacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master slave scheme avoids inter-finger collisions and reduces the dimensionality of the planning problem.
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