Grasp stability and feasibility for an arm with an articulated hand
作者： N.S. Pollard , T. Lozano-Perez
DOI: 10.1109/ROBOT.1990.126234
关键词:
摘要: A system for generating a stable, feasible grasp of polyhedral object is presented. set contact points on the that can result in stable found, and which robot contacts at those determined. The algorithm designed Salisbury hand mounted Puma 560 arm, but similar approach could be used to develop grasping systems other robots. Simulations show generate wide range grasps difficult situations. >
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