Title:
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Searching grasping points reachable by a three-finger robotic hand on a 2D object
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Author:
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Qin, Wan
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Other authors:
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Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials; Suárez Feijóo, Raúl |
Abstract:
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This project presents the searching process of contact points for grasping 2-D discretized
objects by 3-finger robotic hand. The conditions of non-slippery and force closure grasp are
first explained, considering both the boundary of objects and configuration of robotic hand.
Next, we developed the algorithm of searching order and a new geometrical algorithm of
evaluation of force closure condition and the quality measurement of grasps including each
computation details of constraints. We have made six simulations with regular and irregular
objects to test the algorithm. |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Àrees temàtiques de la UPC::Enginyeria mecànica::Processos de fabricació mecànica::Màquines i mecanismes -Robot hands -Algorithms -Force Closure -Three-Finger Grasps -Contact Points -Quality of Grasps -Mans mecàniques -Algorismes |
Rights:
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Document type:
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Research/Master Thesis |
Published by:
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Universitat Politècnica de Catalunya
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