DocumentCode
3177105
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
fYear
1992
fDate
12-14 May 1992
Firstpage
1525
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location
Nice
Print_ISBN
0-8186-2720-4
Type
conf
DOI
10.1109/ROBOT.1992.220035
Filename
220035
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