Automatic Grasping of Objects by a Manipulator Equipped with a Multifinger Hand
- Authors: Bazhinova K.V.1, Leskov A.G.1, Seliverstova E.V.1
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Affiliations:
- Bauman State Technical University, Moscow (Dmitrov Branch)
- Issue: Vol 58, No 2 (2019)
- Pages: 317-327
- Section: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/220355
- DOI: https://doi.org/10.1134/S1064230719020035
- ID: 220355
Cite item
Abstract
We consider the problem of controlling a manipulator during the operation of the automatic grasping of a noncooperative object. The manipulator is equipped with a gripper in the form of a multifinger hand. The solution of the problem includes the planning and execution stages. When planning, the coordinates of contact points on the surface of the object, along with the coordinates of the manipulator and the fingers of the hand at the instant of a grasping are determined. When executing, the manipulator and the hand move from the initial position into the planned position.
About the authors
K. V. Bazhinova
Bauman State Technical University, Moscow (Dmitrov Branch)
Email: agleskov@rambler.ru
Russian Federation, Dmitrov, Moscow oblast, 141801
A. G. Leskov
Bauman State Technical University, Moscow (Dmitrov Branch)
Author for correspondence.
Email: agleskov@rambler.ru
Russian Federation, Dmitrov, Moscow oblast, 141801
E. V. Seliverstova
Bauman State Technical University, Moscow (Dmitrov Branch)
Email: agleskov@rambler.ru
Russian Federation, Dmitrov, Moscow oblast, 141801
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