DocumentCode
2956786
Title
Preshape Jacobians for minimum momentum grasping
Author
Erkmen, A.M. ; Stephanou, H.E.
Author_Institution
Sch. of Inf. Technol., George Mason Univ., Fairfax, VA, USA
fYear
1989
fDate
14-17 Nov 1989
Firstpage
790
Abstract
Dexterous grasps for multifingered robot hands are planned. A real-time, joint space finger path planning algorithm is derived for the enclosure phase of grasping motion. The algorithm minimizes the impact momentum of the hand. It uses a preshape Jacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master-slave scheme avoids inter-finger collisions and reduces the dimensionality of the planning problem
Keywords
kinematics; matrix algebra; position control; robots; dexterous grasps; joint space finger path planning; kinematic; minimum momentum grasping; multifingered robot hands; preshape Jacobian matrix; Artificial intelligence; Fingers; Grasping; Information technology; Jacobian matrices; Master-slave; Motion planning; Orbital robotics; Path planning; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 1989. Conference Proceedings., IEEE International Conference on
Conference_Location
Cambridge, MA
Type
conf
DOI
10.1109/ICSMC.1989.71401
Filename
71401
Link To Document