By Topic

Grips on parts

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
$33 $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

3 Author(s)
van Bruggen, M. ; Delft Univ. of Technol., Netherlands ; Baartman, J.P. ; Bronsvoort, W.F.

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