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http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/6817| Title: | The Grasping Problem: Toward Task-Level Programming for an Articulated Hand |
| Keywords: | robotics robot hands grasp planning stability sfeasibility motion planning |
| Issue Date: | 9-Oct-2013 |
| Description: | This report presents a system for generating a stable, feasible, and reachable grasp of a polyhedral object. A set of contact points on the object is found that can result in a stable grasp; a feasible grasp is found in which the robot contacts the object at those contact points; and a path is constructed from the initial configuration of the robot to the stable, feasible final grasp configuration. The algorithm described in the report is designed for the Salisbury hand mounted on a Puma 560 arm, but a similar approach could be used to develop grasping systems for other robots. |
| URI: | http://koha.mediu.edu.my:8181/xmlui/handle/1721 |
| Other Identifiers: | AITR-1214 http://hdl.handle.net/1721.1/6817 |
| Appears in Collections: | MIT Items |
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