Method for Planning the Finger’s Movement in the Anthropomorphic Manipulator Hand-K3, Using a Tactile Sensors Network, with the Aim of Optimal Grasping

Handke, A.; Twaróg, W.

doi:10.1007/978-94-007-5125-5_40

Cited by 1 publication

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“…Discussed in this anthropomorphic manipulator Hand-K3 four combinations of subgroups consisting of three finger modules were set. It is related to the established algorithm for planning the movements of finger modules (Handke and Twaróg, 2012), in order to fully grasp the objects of indefinite shape, without the use of vision systems, as well as information from the tactile sensor network (De Luca, 2006). The collision in spatial system occurs in three directions, and due to the distinctive construction of the manipulator, it mainly occurs in a two-dimensional plane in which the movable segments revolute.…”

Section: Types Of Collisions Between Finger Modules Of Anthropomorphimentioning

confidence: 99%

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Simplified Collision Detection in 4r Serial Manipulators

Handke¹

2013

Acta Mechanica Et Automatica

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This paper concerns the problem of designating criteria for assessing the possibility of a collision between the elements of serial manipulators with three rotary joints allowing to flex the segments in common plane oriented by rotating the fourth connection. The issue of contactless and efficient functioning of described group of manipulators has been considered in the spatial system. Equations were derived determining the possibility of a collision between selected segments of both manipulators. Collision detection model isn't based on the information from the tactile sensors, but only on the relative position between the segments of manipulators. Based on the parameters defining the collision, the search for method of impossible collision was set on designing level, in order to minimize the time needed to examine all possible scenarios of collisions between segments. The results were included in development of methods and algorithms for planning and controlling movements of finger modules in anthropomorphic manipulator during grasping objects of indeterminate shape.

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Section: Types Of Collisions Between Finger Modules Of Anthropomorphimentioning

confidence: 99%

“…According to the proposed move control algorithm (Handke and Twaróg, 2012), collisions in finger modules are considered in a group of three among all five. Fig.3 shows a selected group containing one finger j, set in opposition to the others.…”

Section: Fig 2 Finger Unit's Segment Basic Dimensionsmentioning

confidence: 99%

Simplified Collision Detection in 4r Serial Manipulators

Handke¹

2013

Acta Mechanica Et Automatica

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show abstract

Method for Planning the Finger’s Movement in the Anthropomorphic Manipulator Hand-K3, Using a Tactile Sensors Network, with the Aim of Optimal Grasping

Cited by 1 publication

References 2 publications

Simplified Collision Detection in 4r Serial Manipulators

Simplified Collision Detection in 4r Serial Manipulators

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