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Page 178
The successful grasp of the object can be achieved if the resultant force and
resultant moment acting on the object are zero. At first, a method that can be used
to determine which combination of the object edges touched by fingers is
possible ...
The successful grasp of the object can be achieved if the resultant force and
resultant moment acting on the object are zero. At first, a method that can be used
to determine which combination of the object edges touched by fingers is
possible ...
Page 197
The friction support for stable grasp depends on the geometric shape of the
manipulated object and the fingertip together with the mutual spatial relationship.
This relationship changes in the course of the manipulation of the object.
Therefore ...
The friction support for stable grasp depends on the geometric shape of the
manipulated object and the fingertip together with the mutual spatial relationship.
This relationship changes in the course of the manipulation of the object.
Therefore ...
Page 200
move- slip angle (a) initial grasp (b) goal pose Figure 5: succeeded manipulation
M 40 50 number of infinitesimal motio Figure 8: rotation slip angles around the
surface normal of the object at the contact points tinuing to search for a better ...
move- slip angle (a) initial grasp (b) goal pose Figure 5: succeeded manipulation
M 40 50 number of infinitesimal motio Figure 8: rotation slip angles around the
surface normal of the object at the contact points tinuing to search for a better ...
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Contents
Monday May 282001 | 1 |
Session M1B Assembly Planning Room | 31 |
Session MIC Production Systeml RoomC | 61 |
Copyright | |
15 other sections not shown
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Common terms and phrases
4th IEEE International algorithm analysis applied approach Assembly and Task assembly model assembly planning assembly process assembly sequences assembly system assembly task automatic B-spline Bayesian network calculated camera collision components computed configuration constraints contact point coordinate cost defined deformable described developed disassembly sequences dynamic Engineering environment evaluation feasible Figure finger flexible Fukuoka function genetic algorithm geometric grasp holons IEEE International Symposium information entropy Japan liaison Lie algebra machine manipulation matrix mechanical method mobile robot module motion planning node object obstacles obtained operation optimal parameters path planning Petri nets Planning Soft Research precedence graph problem proposed Radon transform represented Robotics and Automation rotation scheduling Screw Theory selected self-organizing map sensor shown in Fig simulation Soft Research Park solutions specification station step structure subassembly Symposium on Assembly Task Planning Soft tion tool trajectory vector velocity
Bibliographic information
| Title | Proceedings |
| Author | IEEE International Symposium on Assembly and Task Planning |
| Contributors | IEEE Robotics and Automation Society, IEEE Xplore (Online service) |
| Publisher | IEEE Computer Society Press |
| Original from | the University of Michigan |
| Digitized | 11 Jan 2008 |
| Export Citation | BiBTeX EndNote RefMan |