DocumentCode :
3043435
Title :
Motion planning and design of a dexterous gripper-virtual gripper and manipulable regions
Author :
Onda, H. ; Suehiro, T.
Author_Institution :
AIST, Electrotech. Lab., Ibaraki, Japan
fYear :
1999
fDate :
1999
Firstpage :
226
Lastpage :
231
Abstract :
We describe “graspability”, “manipulability” and “virtual gripper”. These concepts are necessary to deal with the geometric relation between a dexterous hand and its grasped object in both the planning and designing processes. Since the coordination of motion of the manipulator and manipulation of its gripper is needed in order to achieve the desired motion of the grasped object, we develop an algorithm that generates these coordinated motions: the path of the manipulator and the manipulation path of the object with respect to the coordinate frame of the gripper. This paper describes “graspability”, “manipulability”, “virtual gripper”, an algorithm that generates the coordinated motions, and estimation of a “manipulable region” of a dexterous gripper which is needed in a specific task
Keywords :
dexterous manipulators; motion control; path planning; virtual reality; coordination; dexterous gripper; graspability; manipulability; manipulators; motion planning; object grasping; virtual gripper; End effectors; Fingers; Gravity; Grippers; Interference constraints; Laboratories; Motion estimation; Process design; Process planning; Solid modeling;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Assembly and Task Planning, 1999. (ISATP '99) Proceedings of the 1999 IEEE International Symposium on
Conference_Location :
Porto
Print_ISBN :
0-7803-5704-3
Type :
conf
DOI :
10.1109/ISATP.1999.782963
Filename :
782963
Link To Document :
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