{"title":"最小动量抓取的预成形雅可比矩阵","authors":"A. Erkmen, H. Stephanou","doi":"10.1109/ICSMC.1989.71401","DOIUrl":null,"url":null,"abstract":"Dexterous grasps for multifingered robot hands are planned. A real-time, joint space finger path planning algorithm is derived for the enclosure phase of grasping motion. The algorithm minimizes the impact momentum of the hand. It uses a preshape Jacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master-slave scheme avoids inter-finger collisions and reduces the dimensionality of the planning problem.<<ETX>>","PeriodicalId":72691,"journal":{"name":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","volume":"27 1","pages":"790-795 vol.2"},"PeriodicalIF":0.0000,"publicationDate":"1989-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Preshape Jacobians for minimum momentum grasping\",\"authors\":\"A. Erkmen, H. Stephanou\",\"doi\":\"10.1109/ICSMC.1989.71401\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Dexterous grasps for multifingered robot hands are planned. A real-time, joint space finger path planning algorithm is derived for the enclosure phase of grasping motion. The algorithm minimizes the impact momentum of the hand. It uses a preshape Jacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master-slave scheme avoids inter-finger collisions and reduces the dimensionality of the planning problem.<<ETX>>\",\"PeriodicalId\":72691,\"journal\":{\"name\":\"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics\",\"volume\":\"27 1\",\"pages\":\"790-795 vol.2\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1989-11-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICSMC.1989.71401\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSMC.1989.71401","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Dexterous grasps for multifingered robot hands are planned. A real-time, joint space finger path planning algorithm is derived for the enclosure phase of grasping motion. The algorithm minimizes the impact momentum of the hand. It uses a preshape Jacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master-slave scheme avoids inter-finger collisions and reduces the dimensionality of the planning problem.<>
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