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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Sintov, A. Raghothama, S. Menassa, R. Shapiro, A. |
| Copyright Year | 2012 |
| Description | Author affiliation: Global General Motors R&D, India Science Lab. Bangalore 560066, India (Raghothama, S.) || Global General Motors R&D, Manufacturing Systems Research Lab, Warren 48090, MI, USA (Menassa, R.) || Department of Mechanical Engineering, Ben-Gurion University of the Negev, Beer-Sheva 84105, Israel (Sintov, A.; Shapiro, A.) |
| Abstract | This work proposes an algorithm for designing a simple End Effector configuration for a robotic arm which is able to grasp a given set of objects. The algorithm searches for a common 3-finger grasp over a set of objects. The search algorithm maps all possible grasps for each object which satisfy a quality criterion and takes into account an external wrench (force and torque) applied to the object. The mapped grasps are represented by feature vectors in a high-dimensional space. This feature vector describes the shape of the gripper. We then generate a database of all possible grasps for each object represented as points in the feature vector space. Then we use another search algorithm for intersecting all points over the entire sets and finding common points suitable for all objects. Each point (feature vector) is the grasp configuration for a group of objects, which implies for the end-effector design. The final step classifies the grasps found to subsets of the objects, according to the common points found, this with preference to find one grasp to all the objects. The algorithm will be useful for assembly line robots in reducing end-effector design time, end-effector manufacturing time and final product cost. |
| Starting Page | 1095 |
| Ending Page | 1100 |
| File Size | 737052 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467304290 |
| ISSN | 21618070 |
| e-ISBN | 9781467304306 |
| DOI | 10.1109/CoASE.2012.6386331 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2012-08-20 |
| Publisher Place | Korea (South) |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Vectors Algorithm design and analysis Shape Force Force measurement Search problems Friction |
| Content Type | Text |
| Resource Type | Article |
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