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On the solution of objects closure problem by anthropomorphic grippers when specifying the object shape by data arrays
| Authors: Lukinov A.P., Syromyatin A.N. | Published: 04.11.2013 |
| Published in issue: #10(631)/2012 | |
| Category: Calculation and Design of Machinery | |
| Keywords: anthropomorphic gripper, manipulation object, closure, holding, algorithm, data array, smooth regular surface, rough irregular surface, identification, virtual outline, point of contact |
The method for solving the objects closure problem when the object's shape is presented as a data array has been considered. The article proposes a unified and efficient algorythm for objects closing by anthropomorphic grippers when manipulation objects are characterized by smooth regular and rough irregular surfaces, which identification is implemented by opto electronic systems.