NASA Technical Reports Server NTRS 20150012208: Fast Grasp Contact Computation for a Serial RobotReport as inadecuate



 NASA Technical Reports Server NTRS 20150012208: Fast Grasp Contact Computation for a Serial Robot


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A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional 3D object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional 2D plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.



Author: NASA Technical Reports Server (NTRS)

Source: https://archive.org/







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