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The Grasping Problem: Toward Task-Level Programming for an Articulated Hand

dc.date.accessioned2004-10-20T19:58:03Z
dc.date.accessioned2018-11-24T10:22:00Z
dc.date.available2004-10-20T19:58:03Z
dc.date.available2018-11-24T10:22:00Z
dc.date.issued1990-05-01en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/6817
dc.identifier.urihttp://repository.aust.edu.ng/xmlui/handle/1721.1/6817
dc.description.abstractThis report presents a system for generating a stable, feasible, and reachable grasp of a polyhedral object. A set of contact points on the object is found that can result in a stable grasp; a feasible grasp is found in which the robot contacts the object at those contact points; and a path is constructed from the initial configuration of the robot to the stable, feasible final grasp configuration. The algorithm described in the report is designed for the Salisbury hand mounted on a Puma 560 arm, but a similar approach could be used to develop grasping systems for other robots.en_US
dc.format.extent93 p.en_US
dc.format.extent6334760 bytes
dc.format.extent4424738 bytes
dc.language.isoen_US
dc.subjectroboticsen_US
dc.subjectrobot handsen_US
dc.subjectgrasp planningen_US
dc.subjectstabilityen_US
dc.subjectsfeasibilityen_US
dc.subjectmotion planningen_US
dc.titleThe Grasping Problem: Toward Task-Level Programming for an Articulated Handen_US


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