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RoManSy 6 pp 380-387 | Cite as

Automatic Grasp Planning. An Operation Space Approach

  • M. T. Mason
  • R. C. Brost

Summary

During grasping motions, frictional forces and geometric constraint can combine to eliminate uncertainty in the location of the object. This paper incorporates the mechanics of friction and constraint in automatic planning of grasping motions. Our approach to automatic planning is centered on the use of operation space, which can be constructed for any parameterized class of operations. This approach was applied by Brost [1986] to plan planar parallel-jaw grasping motions. We extend Brost’s work to include the finite dimensions of the fingers and the finite lengths of the motions. We explore the conditions for a successful grasp, and derive constraints in the operation space. An operation satisfying all of the constraints should produce the required result.

Keywords

Trigonometric Function Rotation Center Automatic Planning Operation Space Successful Grasp 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • M. T. Mason
    • 1
  • R. C. Brost
    • 1
  1. 1.Computer Science DepartmentCarnegie-Mellon UniversityPittsburghUSA

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