Analysis of stable grasping for one-parameter four-pin gripper
Ou, Zhicai; Qiao, Hong
2008
Conference Name1st International Conference Intelligent Robotics and Applications
Source PublicationINTELLIGENT ROBOTICS AND APPLICATIONS
Conference DateOCT 15-17, 2008
Conference PlaceWuhan, PEOPLES R CHINA
AbstractLocate and move the object from a region of initial state to a final stable state (form closure) is a guarantee of successful grasping. However, most previous grasping works only focus on how to keep a grasped object in a static state. Very few work concerns on the whole process to achieve stable grasping state and give the conditions of initial region by taking the objects shape into account. In this paper, dynamic grasping is analyzed by utilize attractive region [10]. Meanwhile, a one-parameter four-pin gripper, which can remove all the uncertainties of a planar object, is adopted as grasping tool. The graspable object set of the gripper is given: and the initial state region of the object for the gripper is presented. At last, simulations are given to show the validity of the grasping process analysis and the initial region respectively.
KeywordFour-pin Gripper Form Closure Grasp Attractive Region
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12817
Collection复杂系统管理与控制国家重点实验室_机器人理论与应用
Corresponding AuthorQiao, Hong
AffiliationChinese Acad Sci, Inst Automat
Recommended Citation
GB/T 7714
Ou, Zhicai,Qiao, Hong. Analysis of stable grasping for one-parameter four-pin gripper[C],2008.
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