Referenced Items are not available for this document.
A grip planning module is presented. An algorithm for calculating regions on a part that cannot be gripped is described. Non-free regions exist because of finger size, contact with feeder and assembly, and forbidden surfaces on the part. A problem reduction method is presented that reduces the 3-D grasp planning problem to a number of 2 1/2-D subproblems based on the mechanical properties of industrial grippers. Adapted versions of known 2-D grasp planning algorithms can be used for grasp planning in the subproblems, of which two examples are given. The grip planning module is implemented, and results are presented
Published in:
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Date of Conference: 2-6 May 1993
- Page(s):
- 828 - 833 vol.2
- Meeting Date :
- 02 May 1993-06 May 1993
- Print ISBN:
- 0-8186-3450-2
- INSPEC Accession Number:
- 4700697
- Conference Location :
- Atlanta, GA
- Digital Object Identifier :
- 10.1109/ROBOT.1993.291932
- Product Type:
- Conference Publications
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