Journal article
Automated Gripper Jaw Design and Grasp Planning for Sets of 3D Objects
Abstract
Abstract An algorithm for automatically generating a common jaw design and planning grasps for a given set of polyhedral objects is presented. The algorithm is suitable for a parallel‐jaw gripper equipped with three cylindrical fingers. The common jaw design eliminates the need for custom made grippers and tool changing. The proposed jaw configuration and planning approach reduces the search associated with locating the finger contacts from …
Authors
Balan L; Bone GM
Journal
Journal of Field Robotics, Vol. 20, No. 3, pp. 147–162
Publisher
Wiley
Publication Date
March 2003
DOI
10.1002/rob.10076
ISSN
1556-4959