Abstract
dc:description.abstractAn object model based on the principle of duality where a plane has a point as a dual and a point has a plane as a dual is presented. Using this representation we present methods for performing intersection detection and face overlap checks to determine if a parallel jaw gripper is in a position to execute a valid grasp. Valid grasps are ones physically realizable and can lift an object when it is assumed that the gripping forces and the friction coefficients are large enough to keep the object from slipping. The objects considered are polyhedra and valid grip checks for both convex and concave objects are developed. A generate and test method for synthesizing valid grasp positions is also presented.
Degree
thesis:*- Name thesis:degree_name
- Master of Science
- Level thesis:degree_level
- masters
- Discipline thesis:degree_discipline
- Electrical Engineering
- Department dc:contributor.department
- Electrical Engineering
- Grantor dc:publisher
- Virginia Tech
- Year dc:date.issued
- 1988
Author and committee
dc:creator, dc:contributor.*- Author dc:creator
-
- Dannhardt, Michael
- Chair dc:contributor.committeechair
-
- Lindner, Douglas K.
- Committee members dc:contributor.committeemember
-
- Roach, John W.
- Conners, Richard W.
Rights
dc:rights- Statement dc:rights
-
- In Copyright
- Licence dc:rights.uri
Identifiers
dc:identifier.*- Dc Identifier Other
- etd-07282010-020414
- OAI identifier oai:identifier
- oai:vtechworks.lib.vt.edu:10919/43968