Enveloping, frictionless, planar grasping
Enveloping, frictionless, planar grasping
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包络式、无摩擦、平面抓取
DOI：
10.1109/robot.1987.1088002
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发表时间：
1987
期刊：
影响因子：
--
通讯作者：
R. Paul
中科院分区：
文献类型：
--
作者：
J. Trinkle;J. Abel;R. Paul
研究了由手掌和两个铰接手指组成的二维手的抓取问题。提出了无摩擦抓取的数学方法，并用于规划器/模拟器的开发。模拟器使用主动约束集方法计算物体的运动，并假设多边形物体、手和支撑物的物理特性的精确知识。
Grasping by a two-dimensional hand comprised of a palm and two hinged fingers is studied. The mathematics of frictionless grasping is presented and used in the development of a planner/simulator, The simulator computes the motion of the object using an active constraint set method and assuming exact knowledge of the physical properties of the polygonal object, hand, and support.