DocumentCode
385063
Title
Enveloping, frictionless, planar grasping
Author
Trinkle, Jeffrey C. ; Abel, Jacob M. ; Paul, Richard P.
Author_Institution
University of Pennsylvania, Philadelphia, PA
Volume
4
fYear
1987
fDate
31837
Firstpage
246
Lastpage
251
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1987.1088002
Filename
1088002
Link To Document