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Communication Dans Un Congrès Année : 2015

Optimal grasping points identification for a rotational four-fingered aerogripper

Résumé

In the present paper, we deal with the grasping aspect regarding reactive object retrieving during fast aerial pick-and-place maneuevers. The paper addresses the problem of the optimal grabbing of an object by means of a 5 degrees of freedom (DoF) gripper. Also, is introduced the optimization framework for the identification of the optimal contact points between the end-effector and the object. In particular, we define an objective functional to evaluate the optimality of the contact points and we propose a preliminary strategy to identify the optimal contact points. Simulations and experimental are presented to support the actual proposal.
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Dates et versions

hal-01395546 , version 1 (10-11-2016)

Identifiants

Citer

Jesus Vazquez, Matteo Giacomini, Juan Antonio Escareno, Elsa Rubio, Humberto Sossa. Optimal grasping points identification for a rotational four-fingered aerogripper. 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), Nov 2015, Cancún, Mexico. pp.272-277, ⟨10.1109/RED-UAS.2015.7441017⟩. ⟨hal-01395546⟩
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