Title :
Enveloping, frictionless, planar grasping
Author :
Trinkle, Jeffrey C. ; Abel, Jacob M. ; Paul, Richard P.
Author_Institution :
University of Pennsylvania, Philadelphia, PA
Abstract :
Grasping by a two-dimensional hand comprised of a palm and two hinged fingers is studied. The mathematics of frictionless grasping is presented and used in the development of a planner/simulator, The simulator computes the motion of the object using an active constraint set method and assuming exact knowledge of the physical properties of the polygonal object, hand, and support.
Keywords :
Computational modeling; Fingers; Friction; Grasping; Grippers; Information science; Jacobian matrices; Laboratories; Mechanical engineering; Systems engineering and theory;
Conference_Titel :
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
DOI :
10.1109/ROBOT.1987.1088002
