Title :
Planning four grasping points from images of planar objects
Author :
Suárez, Raul ; Vázquez, Israel ; Ramírez, José M.
Author_Institution :
Inst. de Organ. y Control de Sistemas Ind., UPC, Barcelona, Spain
Abstract :
This paper describes a method for the determination of the four grasping points that are necessary to get a force closure grasp for a planar object considering frictionless contacts. The geometric model of the object is assumed to be unknown. The proposed approach starts from the object boundary obtained from the binary digitalization of an object image, and then uses the dual representation of forces and the dual-force space span for the determination of the grasping points.
Keywords :
computer vision; manipulator kinematics; path planning; search problems; binary digitalization; control engineering computing; dual force space span; force closure grasp; frictionless contacts; geometric model; grasping point planning; manipulators; planar objects images; search algorithm; Application software; Computer vision; Fingers; Friction; Grippers; Industrial control; Robots; Robustness; Scholarships; Solid modeling;
Conference_Titel :
Assembly and Task Planning, 2003. Proceedings of the IEEE International Symposium on
Print_ISBN :
0-7803-7770-2
DOI :
10.1109/ISATP.2003.1217206
