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Finding Grasping Configurations of a Dexterous Hand and an Industrial Robot

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4 Author(s)
Rosell, J. ; Institute of Industrial and Control Engineering (IOC-UPC) Barcelona, Spain. Email: ; 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