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
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;
Conference_Titel :
Systems, Man and Cybernetics, 1989. Conference Proceedings., IEEE International Conference on
Conference_Location :
Cambridge, MA
DOI :
10.1109/ICSMC.1989.71401
