Title :
Grasp planning for the coordinated manipulation of rigid objects
Author :
Aicardi, M. ; Cannata, G. ; Casalino, G.
Author_Institution :
Dept. of Commun., Comput. & syst. Sci., Genova Univ., Italy
Abstract :
The problem of grasping rigid objects using robot hands is addressed. In particular, a representation of the space of the internal forces is given. Within this framework, an algorithm is proposed for the determination of feasible grasp and manipulation forces. sufficient conditions for the solution of this problem of coordinated manipulation are given
Keywords :
manipulators; coordinated manipulation; grasp planning; internal forces; rigid objects; robot hands; sufficient conditions; Equations; Fingers; Force control; Friction; Iron; Jacobian matrices; Motion control; Symmetric matrices; Torque; Vectors;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220035
