• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>Research Workshop of ERNET - European Robotics Network September 9-10, 1996 Darmstadt, Germany >Grasping robustness measurements: integration in computer aided optimal design for grasping systems
【24h】

Grasping robustness measurements: integration in computer aided optimal design for grasping systems

机译：掌握鲁棒性测量：集成到用于抓取系统的计算机辅助优化设计中

获取原文
获取原文并翻译 | 示例
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

The present contribution fits the topics of computer aided optimal design for robotic grasping systems, with special concern to its application for the choice of a suitable grasp. Speaking of robotic graspng, if it is true that an industry required very crucial demand is to make it as more as possible flexible, special care has to be devoted to the fact that flexibility must be achieved never at expences of stability and robustness. In the present work a technique, to evaluate the robustness of a grasping action is presented. The method which is discussed leads to the introduction of a transmission strengths ellipsoid. Such ellipsoid is conceived to retrieve the axes directions along which an object grasp displays major or minor capability to resist to any external perturbation. To be pointed out that, having to be defined onto a dimensionally non-homogeneus spaces, as the one of forces and torques, such ellipsoid to be properly defined requires an a-priori space homogenization procedure.
机译：本文稿适合用于机器人抓取系统的计算机辅助优化设计的主题，特别关注其在选择合适抓取器中的应用。说到机器人的掌握，如果确实需要一个非常关键的需求的行业是使它尽可能地具有灵活性，那么就必须特别注意这样一个事实，即绝不能以稳定性和鲁棒性为代价来实现灵活性。在本工作中，提出了一种评估抓握动作的鲁棒性的技术。所讨论的方法导致传输强度椭球的引入。设想这样的椭圆体以获取物体抓握所显示的抵抗任何外部扰动的主要或次要能力的轴方向。要指出的是，由于必须在尺寸上非均匀的空间上定义力和扭矩之一，因此要适当地定义这种椭圆体需要先验空间均质化程序。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号