DocumentCode
3453133
Title
Intelligent manipulation of sliding operations with parallel two-fingered grippers
Author
Terasaki, OHajime ; Hasegawa, Tsutomu
Author_Institution
Sanyo Electric Co., Ltd., Ibaraki, Japan
Volume
3
fYear
1993
fDate
26-30 Jul 1993
Firstpage
1590
Abstract
The authors describe a motion planning system for sliding operations with a parallel two-fingered gripper used to escape from a situation where an object cannot be grasped. First they describe the problems of escaping from a situation where an object cannot be grasped and the actions to solve them. Then they propose a new method for planning manipulator motions for these actions using sliding operations based on geometrical information about the environments. The results of the method and its validity are shown
Keywords
path planning; grippers; manipulator motions; motion planning system; sliding operations; two-fingered gripper; Cities and towns; Equations; Feedback; Fingers; Grippers; Humans; Intelligent robots; Manipulators; Motion planning; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location
Yokohama
Print_ISBN
0-7803-0823-9
Type
conf
DOI
10.1109/IROS.1993.583851
Filename
583851
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