Automatic Grasping of Objects by a Manipulator Equipped with a Multifinger Hand
- Авторлар: Bazhinova K.1, Leskov A.1, Seliverstova E.1
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Мекемелер:
- Bauman State Technical University, Moscow (Dmitrov Branch)
- Шығарылым: Том 58, № 2 (2019)
- Беттер: 317-327
- Бөлім: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/220355
- DOI: https://doi.org/10.1134/S1064230719020035
- ID: 220355
Дәйексөз келтіру
Аннотация
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.
Авторлар туралы
K. Bazhinova
Bauman State Technical University, Moscow (Dmitrov Branch)
Email: agleskov@rambler.ru
Ресей, Dmitrov, Moscow oblast, 141801
A. Leskov
Bauman State Technical University, Moscow (Dmitrov Branch)
Хат алмасуға жауапты Автор.
Email: agleskov@rambler.ru
Ресей, Dmitrov, Moscow oblast, 141801
E. Seliverstova
Bauman State Technical University, Moscow (Dmitrov Branch)
Email: agleskov@rambler.ru
Ресей, Dmitrov, Moscow oblast, 141801