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Autonomous Grasping with a 3-DOF Gripper for Space Activities
| Content Provider | Semantic Scholar |
|---|---|
| Author | Biagiotti, Luigi Melchiorri, Claudio Vassura, Gabriele |
| Copyright Year | 2002 |
| Abstract | In the space context, because of the technical difficulties, dangerous environment, high cost of communications and of human presence and so on, the development of devices for autonomous or semi-autonomous operations is a key point for present and future researches. In this scenario, an important role will be played by robotics systems, able to interact with and to operate in a possibly unstructured environment. Aim of this work is to show how a robotic arm/gripper system and a vision system can be properly integrated in order to achieve the capability to autonomously perform the grasp of unknown objects. The gripper (currently mounted on a standard industrial manipulator) has been purposely designed for space applications. As a matter of fact, its kinematic configuration (3 one-dof fingers) and its sensorial equipment (including position, force and proximity sensors), improve the dexterity of this device if compared to more classical 2-jaw devices, usually used in space. In particular, the features of the proposed device (besides its wide workspace and the possibility to grasp objects with irregular shapes and/or non well positioned within its workspace) make it particularly suitable to deal with free-floating objects in absence of gravity. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://robotics.estec.esa.int/ASTRA/Astra2002/Papers/astra2002_2.7b-2.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
