Title :
A simulation system for coordinated manipulation
Author_Institution :
Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
Abstract :
A special-purpose simulation system for constraint-based manipulation with robotic devices is described. This system is a computational tool for the study of task-directed programming of robotics. The architecture of the system is outlined, the module for controlling independent fingers cooperating for the task of part rotation is described in detail, and experiments are reported. This implementation contributes to a deeper understanding of the properties of algorithms for fine motion planning for dexterous manipulation
Keywords :
constraint theory; digital simulation; manipulators; path planning; robot programming; robots; computational tool; constraint-based manipulation; coordinated manipulation; dexterous manipulation; fine motion planning; part rotation; robotic devices; special-purpose simulation system; task-directed programming; Analytical models; Computational modeling; Fingers; Fixtures; Intelligent robots; Motion planning; Robot kinematics; Robot programming; Robotic assembly; Robotics and automation;
Conference_Titel :
CompEuro '93. 'Computers in Design, Manufacturing, and Production', Proceedings.
Conference_Location :
Pris-Evry
Print_ISBN :
0-8186-4030-8
DOI :
10.1109/CMPEUR.1993.289830
