Analysis of stable grasping for one-parameter four-pin gripper
文献类型：会议论文
| 作者 | Ou, Zhicai ; Qiao, Hong
|
| 出版日期 | 2008 |
| 会议名称 | 1st International Conference Intelligent Robotics and Applications |
| 会议日期 | OCT 15-17, 2008 |
| 会议地点 | Wuhan, PEOPLES R CHINA |
| 关键词 | Four-Pin Gripper Form Closure Grasp Attractive Region |
| 通讯作者 | Qiao, Hong |
| 英文摘要 | Locate 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. |
| 会议录 | INTELLIGENT ROBOTICS AND APPLICATIONS
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/12817]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组 |
| 作者单位 | Chinese Acad Sci, Inst Automat |
| 推荐引用方式 GB/T 7714 | Ou, Zhicai,Qiao, Hong. Analysis of stable grasping for one-parameter four-pin gripper[C]. 见:1st International Conference Intelligent Robotics and Applications. Wuhan, PEOPLES R CHINA. OCT 15-17, 2008. |
入库方式： OAI收割
来源：自动化研究所
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