DocumentCode
1843057
Title
A simulation system for coordinated manipulation
Author
Rus, Daniela
Author_Institution
Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
fYear
1993
fDate
24-27 May 1993
Firstpage
531
Lastpage
539
Abstract
A special-purpose simulation system for constraint-based manipulation with robotic devices is described. This system is a computational tool for the study of task-directed programming of robotics. The architecture of the system is outlined, the module for controlling independent fingers cooperating for the task of part rotation is described in detail, and experiments are reported. This implementation contributes to a deeper understanding of the properties of algorithms for fine motion planning for dexterous manipulation
Keywords
constraint theory; digital simulation; manipulators; path planning; robot programming; robots; computational tool; constraint-based manipulation; coordinated manipulation; dexterous manipulation; fine motion planning; part rotation; robotic devices; special-purpose simulation system; task-directed programming; Analytical models; Computational modeling; Fingers; Fixtures; Intelligent robots; Motion planning; Robot kinematics; Robot programming; Robotic assembly; Robotics and automation;
fLanguage
English
Publisher
ieee
Conference_Titel
CompEuro '93. 'Computers in Design, Manufacturing, and Production', Proceedings.
Conference_Location
Pris-Evry
Print_ISBN
0-8186-4030-8
Type
conf
DOI
10.1109/CMPEUR.1993.289830
Filename
289830
Link To Document