Automatic Grasping of Objects by a Manipulator Equipped with a Multifinger Hand
- 作者: Bazhinova K.1, Leskov A.1, Seliverstova E.1
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隶属关系:
- Bauman State Technical University, Moscow (Dmitrov Branch)
- 期: 卷 58, 编号 2 (2019)
- 页面: 317-327
- 栏目: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/220355
- DOI: https://doi.org/10.1134/S1064230719020035
- ID: 220355
如何引用文章
详细
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.
作者简介
K. Bazhinova
Bauman State Technical University, Moscow (Dmitrov Branch)
Email: agleskov@rambler.ru
俄罗斯联邦, Dmitrov, Moscow oblast, 141801
A. Leskov
Bauman State Technical University, Moscow (Dmitrov Branch)
编辑信件的主要联系方式.
Email: agleskov@rambler.ru
俄罗斯联邦, Dmitrov, Moscow oblast, 141801
E. Seliverstova
Bauman State Technical University, Moscow (Dmitrov Branch)
Email: agleskov@rambler.ru
俄罗斯联邦, Dmitrov, Moscow oblast, 141801