Grasp synthesis of 3D articulated objects with n links
Grasp synthesis of 3D articulated objects with n links
复制标题
具有 n 个链接的 3D 铰接对象的抓取合成
DOI：
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发表时间：
2016
期刊：
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通讯作者：
R. Suárez
中科院分区：
文献类型：
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作者：
Noe Alvarado Tovar;R. Suárez
本文研究了考虑摩擦接触和非摩擦接触的三维关节物体n个杆件的抓取综合与力闭合问题。每个连杆的曲面由一组有限的点来表示。首先，本文提出了一种表示具有n个连杆的铰接式三维物体的广义扳手空间的方法。该扳手空间是由施加在铰接物的连杆上的力产生的。其次，描述了利用广义扳手空间寻找允许力闭合抓取的点集的算法。该方法已经实现，并给出了一些算例。
This paper addresses the problem of grasp synthesis with force-closure for 3D articulated objects consisting of n links and considering frictional and non-frictional contacts. The surface of each link is represented by a finite set of points. First, the article presents a methodology to represent the generalized wrench space for an articulated 3D object with n links. This wrench space is generated by the forces applied on the links of the articulated object. Second, the algorithm that finds the set of points which allow a force-closure grasp using the generalized wrench space is described. The approach has been implemented and some illustrative examples are included in the paper.