Title :
Motion planning and design of a dexterous gripper-graspability, manipulability, and virtual gripper
Author :
Onda, H. ; Suehiro, T.
Author_Institution :
MITI, Electrotech. Lab., Ibaraki, Japan
Abstract :
When the desired motion of the grasped object is given or planned, the coordination of motion of the manipulator and manipulation with its gripper is needed in order to achieve the desired motion of the object. In this paper, we have defined “graspability”, “manipulability”, and “virtual gripper”. These concepts are necessary to deal with the geometric relation between a dexterous hand and its grasped object in the planning process and designing process. Since the coordination of motion of the manipulator and manipulation of its gripper is needed in order to achieve the desired motion of the grasped object, we have developed an algorithm that generates these coordinated motions: the path of the manipulator and the manipulation path of the object with respect to the coordinate frame of the gripper. This paper describes “graspability”, “manipulability”, “virtual gripper”, an algorithm that generates the coordinated motions, and estimation of a “manipulable region” of a dexterous gripper which is needed in a specific task
Keywords :
dexterous manipulators; path planning; dexterous gripper; dexterous hand; geometric relation; grasp planning; graspability; manipulability; manipulation path; manipulator path; motion coordination; motion planning; virtual gripper; End effectors; Fingers; Gravity; Grippers; Interference constraints; Laboratories; Motion estimation; Process design; Process planning; Solid modeling;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724608