Procedimiento Geométrico para la Síntesis Automática de Prensiones con Equilibrio de Fuerzas de Cuatro Dedos sobre Objetos Poliédricos
[EN] The synthesis of Force-Closure Grasps is one of the fundamental problems in the grasp and manipulation of objects by means of mechanical hands. In this work a geometric method to determine force-closure grasps on polyhedral objects is presented. First the sets of faces whose relative orientatio...
| Autores: | , |
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| Formato: | artículo |
| Fecha de publicación: | 2008 |
| País: | España |
| Recursos: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | español |
| OAI Identifier: | oai:riunet.upv.es:10251/145510 |
| Acesso em linha: | https://riunet.upv.es/handle/10251/145510 |
| Access Level: | acceso abierto |
| Palavra-chave: | Robotic Mechanical hands Force-closure grasps Robótica Manos mecánicas Prensión con equilibrio de fuerzas |
| Resumo: | [EN] The synthesis of Force-Closure Grasps is one of the fundamental problems in the grasp and manipulation of objects by means of mechanical hands. In this work a geometric method to determine force-closure grasps on polyhedral objects is presented. First the sets of faces whose relative orientations and positions allow obtaining force-closure grasps (concurrent prensiones, flat-pencils and regulus) are determined. Second, these sets are evaluated using a quality function and the best one is selected for the grasp; and third, on the selected set faces the fingertip contact points are determined such that they assure the force-closure property. This method is based on geometric operation in the 3D physical space and do not present iterative loops. The article includes a comparison of the resulting grasps with the optimum ones in different cases. |
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