智能操纵滑动操作与平行双指抓手

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI:10.1109/IROS.1993.583851

H. Terasaki, T. Hasegawa

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引用次数: 11

摘要

作者描述了一种滑动操作的运动规划系统，该系统带有一个平行的双指抓手，用于逃离无法抓住物体的情况。首先，他们描述了从无法抓住物体的情况下逃脱的问题以及解决这些问题的行动。然后，他们提出了一种基于环境几何信息的滑动操作来规划机械臂运动的新方法。结果表明了该方法的有效性。

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Intelligent manipulation of sliding operations with parallel two-fingered grippers

The authors describe a motion planning system for sliding operations with a parallel two-fingered gripper used to escape from a situation where an object cannot be grasped. First they describe the problems of escaping from a situation where an object cannot be grasped and the actions to solve them. Then they propose a new method for planning manipulator motions for these actions using sliding operations based on geometrical information about the environments. The results of the method and its validity are shown.

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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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