Workspace of 2D multifingered manipulation

Author

Guan, Yisheng ; Zhang, Hong

Author_Institution

Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada

Volume

4

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

3705

Abstract

The knowledge of the workspace of a multi-fingered hand is very important in planning a dexterous manipulation task. In this paper, we propose a novel approach to compute and visualize the workspace of a multifingered robotic hand manipulating an object in the planar case. Based on optimization models, our approach is numerical, in which the kinematic feasibility of a grasp at a given position is determined first, and then the range of rotation at this position is computed. The algorithm and its effectiveness are illustrated by examples. It is possible to extend our approach to the spatial case.

Keywords

dexterous manipulators; manipulator kinematics; numerical analysis; optimisation; planning (artificial intelligence); position measurement; rotation measurement; 2D multifingered manipulation; dexterous manipulation; grasp position; kinematic feasibility; multifingered hand workspace; multifingered robotic hand; numerical analysis; optimization; planning; Constraint optimization; Councils; Fingers; Geometry; Kinematics; Manipulators; Monte Carlo methods; Polynomials; Robots; Visualization;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249731

Filename

1249731