Dexterous manipulation planning and execution of an enveloped slippery workpiece
Dexterous manipulation planning and execution of an enveloped slippery workpiece
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包络光滑工件的灵巧操作规划和执行
DOI：
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发表时间：
1993
期刊：
影响因子：
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通讯作者：
Peter F. Stiller
中科院分区：
文献类型：
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作者：
J. Trinkle;R. C. Ram;A. Farahat;Peter F. Stiller
当机器人手或臂能够包围它们操纵的工件时，即使物体在抓取合成之前在未知方向上经历显著的外力，工件的保持也确保了抓取维持。包封机制在低摩擦和微重力环境中很有用。定义了一阶稳定单元。它们用于规划光滑工件的平面、整臂操作任务。对于大多数但不是全部的平面，工件被包围。给出了实验结果。<<ETX>>
When robotic hands or arms are capable of enveloping the workpieces that they manipulate, envelopment of the workpiece ensures grasp maintenance even if the object experiences significant external forces in directions unknown prior to grasp synthesis. The enveloping mechanism is useful in low-friction and microgravity environments. First-order stability cells are defined. They are used to plan a planar, whole-arm, manipulation task of a slippery workpiece. For most, but not all, of the plan, the workpiece is enveloped. Experimental results are presented.<<ETX>>