Procedimientos de obtención de configuraciones de agarre en manipulación robótica

[EN] In this work a mathematical formalism for the synthesis of grips in the configuration space of a robot, based on the definition of the "border grip " from a function that defines the robot ( gripper ) and another to the proposed work environment where the moving objects . This is a generic method in the sense that it is not restricted to a particular end effector. For a particular clip , we must particularize the function representing the robot according to its degrees of freedom . Hands may also be considered , if raised , for example , the concept of " virtual fingers " . Furthermore this method is independent of the geometry of the robot and the object. The grip configurations obtained are viable in the sense that the hand can be calculated adopting grip configuration . Also, this method will facilitate finding a collision -free path from the current configuration to the configuration of grip. Thus, the grips will have obtained one of the main features commonly impose a grip to determine their quality as reachability . In addition , natural and simple way , it is possible to impose grip configurations calculated different quality criteria , such as task-oriented you want to perform with the object.

Author

• Moreno Montero, Ángeles María

• Academic dissertations
• Robotics
• Computer Science
• Artificial Intelligence
• Planning
• Tesis y disertaciones académicas
• Universidad de Salamanca (España)
• Robótica
• Planificación
• Ciencia de los ordenadores
• Inteligencia artificial

Identifier

hdl:10366/123011

OAI identifier oai:identifier

oai:gredos.usal.es:10366/123011