Synthesizing two-fingered grippers for positioning and identifying objects

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 31, Issue 4, 2001, Pages 602-615

  Qian, Wen Han ^b   Qiao, Hong ^a,c   Tso, S K ^a,c  

^a IEEE

^b SHANGHAI JIAO TONG UNIVERSITY   (China)

^c CITY UNIVERSITY OF HONG KONG   (Hong Kong)

Author keywords

Four pin gripper; Gripper synthesis; Object identification; Object positioning; Pose uncertainty; Two fingered gripper

Indexed keywords

ALGORITHMS; AUTOMATION; CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); MOTION PLANNING; NUMERICAL METHODS; OBJECT RECOGNITION; OPTIMIZATION; SENSORS; UNCERTAIN SYSTEMS;

FOUR-PIN GRIPPER; GRIPPER SYNTHESIS; OBJECT IDENTIFICATION; OBJECT POSITIONING; POSE UNCERTAINTY; TWO-FINGERED GRIPPER;

GRIPPERS;

EID: 0035422830     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/3477.938263     Document Type: Article

References (36)

1. On the closure properties of robotics grasping
2. Automatic grasp planning in the presence of uncertainty
3. Automatic design of 3-D fixtures and assembly pallets
4. A 3-D modular gripper design tool
5. A RISC approach to robotics
6. RISC for industrial robotics: Recent results and open problems
7. An exploration of sensorless manipulation
8. Stochastic plans for robotic manipulation
9. Bayesian grasping
10. Orienting polygonal parts without sensors
11. Grasp recognition strategies from empirical methods
12. Sorting parts by random grasping
13. Qualitative test and force optimization of 3-D frictional form-closure grasps using linear programming
14. Automatic synthesis of fine-motion strategies for robot
15. The geometry of grasping
16. Mechanics and planning of manipulator pushing operations
17. Easily computable optimum grasps in 2-D and 3-D
18. A practical approach to collision avoidance in robotic assembly cells
19. Positioning and recognizing planar parts using a two-fingered graipper with four pins
20. Identifying and positioning parts using RISC sensors and RISC grippers together
21. An intelligent assembly system based on RISC robotics
22. Strategy investigation of precise robotic assembly operation with symmetric regular polyhedral objects
23. Three-step precise robotic peg-hole insertion operation with symmetric regular polyhedral objects
24. Orienting generalized polygonal parts
25. Shape from diameter: Recognizing polygonal parts with a parallel-jaw gripper
26. Manipulating algebraic parts in the plane
27. Catalogs of grippers
28. Catalogs of gripping systems
29. Modular fixture design for generalized polyhedra
30. Generic fixture design algorithm for minimal modular fixture toolkits
31. Object recognition and localization from scanning beam sensors
32. A complete algorithm for fixture loading
33. A force-closure test for soft multi-fingered grasping