Abstract
In this article, the development of an action-based process model is described which was especially tailored to the needs of modelling and simulating multifinger hands. The research has been concerned with a description technique using constraints for modelling the working environment and with the design of an appropriate process model for simulating complex movements of manipulation objects with multifinger hands. The paper presents the results of an object-oriented approach to the proposed model and consists of two parts: a constraint net that describes the connections and relations between cell components (robots, grippers, objects) in the working environment and a propagation algorithm that computes the new locations regarding the modifications and logical dependencies.
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Wöhlke, G., Braun, T. An action-based process model for dextrous multifinger hands. J Intell Robot Syst 4, 201–219 (1991). https://doi.org/10.1007/BF00303224
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DOI: https://doi.org/10.1007/BF00303224