Optimal grasping points identification for a rotational four-fingered aerogripper

J. Vazquez, M. Giacomini, J. Escareno, E. Rubio, H. Sossa

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

2 Citas (Scopus)

Resumen

In the present paper, we deal with the grasping aspect regarding reactive object retrieving during fast aerial pick-and-place maneuevers. The paper addresses the problem of the optimal grabbing of an object by means of a 5 degrees of freedom (DoF) gripper. Also, is introduced the optimization framework for the identification of the optimal contact points between the end-effector and the object. In particular, we define an objective functional to evaluate the optimality of the contact points and we propose a preliminary strategy to identify the optimal contact points. Simulations and experimental are presented to support the actual proposal.

Idioma originalInglés
Título de la publicación alojada2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas272-277
Número de páginas6
ISBN (versión digital)9781509017843
DOI
EstadoPublicada - 24 mar. 2016
Evento2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015 - Cancun, México
Duración: 23 nov. 201525 nov. 2015

Serie de la publicación

Nombre2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015

Conferencia

Conferencia2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015
País/TerritorioMéxico
CiudadCancun
Período23/11/1525/11/15

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