By Topic

Finding Grasping Configurations of a Dexterous Hand and an Industrial Robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Rosell, J. ; Institute of Industrial and Control Engineering (IOC-UPC) Barcelona, Spain. Email: jan.rosell@upc.edu ; Sierra, X. ; Palomo, L. ; Suarez, R.

Given an industrial robot equipped with a dexterous hand and an object to be grasped with four grasping points determined on its faces, this paper deals with the problem of finding the joint configurations that allow to grasp that object. The proposed solution is based on an iterative optimization method that consecutively moves the joint that best contributes to reduce the distance of the fingertips to the desired locations. The method is particularized for a Stäubli RX90 robot and the dexterous hand MA-I with four fingers developed at the IOC’s Robotics Lab.

Published in:

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Date of Conference:

18-22 April 2005