NDLI: Virtual Based Antropomorhic Gripper application for Automation Grasping Tasks

Content Provider	IEEE Xplore Digital Library
Author	Rosario, J.M. Aviles, O.F. Kuteken, R. Melo, L.F.
Copyright Year	2014
Description	Author affiliation: UEL - State Univ. of Londrina, Londrina, Brazil (Aviles, O.F.) \|\| Lab. of Autom. & Robot., UNICAMP, Campinas, Brazil (Rosario, J.M.; Kuteken, R.)
Abstract	The following work presents the followed methodology for development a low cost Virtual Based Anthropomorphic Gripper application for Automation Grasping Tasks of common object geometries in a robotics work-cell environment containing a 6 DOF Industrial Robot and an Anthropomorphic hand based device attached to it. In order to comply the low cost development requirement, a set of parameters are defined so the programming and editing of the virtual environment is within this scope. Next, the study of the human hand, the mechanical hand and its kinematics allows the recreation of virtual objects resembling their behavior and visual looks. By studying human grasp postures it can be seen that each finger has a position from which a grasping table can be created, this information also works for an anthropomorphic gripper as they share similar anatomy. From that study three basic shapes are chosen to test the application, a spherical, cylindrical and planar ones, these are available on the graphic user interface, so it can be executed on the desire virtual device. For testing purposes, a real anthropomorphic device is virtualized and from the virtual grasps performed, an information file is created for been executed on the workcell The developed application allows the virtualization of a six to nineteen degrees of freedom either using commercial or open source 3D modeling software, initial applications are on offline grasp task planning. The program execution is operating system independent, which makes it portable as well of the creation and edition of 3D geometries. Future work can be for training and educational purposes and the research expanded for improving the grasping technique using supervisory systems and shape recognition.
Starting Page	521
Ending Page	526
File Size	1490197
Page Count	6
File Format	PDF
ISBN	9781479947492
DOI	10.1109/SPEEDAM.2014.6872037
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-06-18
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Geometry Three-dimensional displays Automation Service robots Thumb Anthropomorphic Gripper Software Robotics Virtual Reality
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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