Automatic Grasping of Objects by a Manipulator Equipped with a Multifinger Hand
- Autores: Bazhinova K.1, Leskov A.1, Seliverstova E.1
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Afiliações:
- Bauman State Technical University, Moscow (Dmitrov Branch)
- Edição: Volume 58, Nº 2 (2019)
- Páginas: 317-327
- Seção: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/220355
- DOI: https://doi.org/10.1134/S1064230719020035
- ID: 220355
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Resumo
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.
Sobre autores
K. Bazhinova
Bauman State Technical University, Moscow (Dmitrov Branch)
Email: agleskov@rambler.ru
Rússia, Dmitrov, Moscow oblast, 141801
A. Leskov
Bauman State Technical University, Moscow (Dmitrov Branch)
Autor responsável pela correspondência
Email: agleskov@rambler.ru
Rússia, Dmitrov, Moscow oblast, 141801
E. Seliverstova
Bauman State Technical University, Moscow (Dmitrov Branch)
Email: agleskov@rambler.ru
Rússia, Dmitrov, Moscow oblast, 141801