DocumentCode
3453151
Title
Towards task-directed coordinated manipulation
Author
Back, Allen ; Rus, Daniela
Author_Institution
Cornell Univ., Ithaca, NY, USA
Volume
3
fYear
1993
fDate
26-30 Jul 1993
Firstpage
1598
Abstract
The authors analyze the feasibility of the finger tracking paradigm for multi-finger manipulation introduced by D. Rus (1992) and relate it to task-directed programming issues. By using the geometry of singularities that arise in solving the instantaneous motion problem they are able to characterize regions of feasibility associated with an initial grasp and quantify how much reorientation is possible starting from this grasp. This results in a provably correct global strategy for reorientation
Keywords
manipulators; feasibility; finger tracking paradigm; geometry of singularities; instantaneous motion problem; multi-finger manipulation; task-directed coordinated manipulation; task-directed programming; Fingers; Fixtures; Geometry; Manipulators; Mathematics; Mobile robots; Motion analysis; Robot kinematics; Robot programming; Tracking;
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.1993.583852
Filename
583852
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