Determining a static robot grasp for automated assembly | IEEE Conference Publication | IEEE Xplore

Determining a static robot grasp for automated assembly


Abstract:

This paper presents an algorithm which may be used to determine a static grasp for an "n" fingered robot hand. A static grasp is one in which the object being manipulated...Show More

Abstract:

This paper presents an algorithm which may be used to determine a static grasp for an "n" fingered robot hand. A static grasp is one in which the object being manipulated does not move with respect to the gripper throughout the entire operation. The following grasping algorithm is used during the program generation stage of the assembly process. It is based on the available object surfaces at each stage of manipulation, on the gripper characteristics, and on the assembly task to be performed. An example is solved in detail to illustrate the procedure of this algorithm.
Date of Conference: 07-10 April 1986
Date Added to IEEE Xplore: 06 January 2003
Conference Location: San Francisco, CA, USA

References

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