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  • 1
    Electronic Resource
    Electronic Resource
    Spatial grasp synthesis for complex objects using model-based simulation (2005)
    Bradford : Emerald
    Industrial robot 32 (2005), S. 24-31 
    Details
    ISSN: 0143-991X
    Source: Emerald Fulltext Archive Database 1994-2005
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Purpose - Selection of an effective grasp of a complex object using a multifingered gripper is a challenging problem because of the many possible grasp positions that are typically available. Design/methodology/approach - Given the geometrical description of the particular object feature to be grasped, all feasible grasps are performed in offline simulation using a geometrically accurate model of the desired gripper. The six-dimensional convex hull for each grasp is computed and archived. This convex hull indicates the span of forces and torques that the grasp can resist. When a grasp is needed the force/torque due to the total object weight is estimated and the best grasp is selected. The selected grasp has minimum peak contact force consistent with equilibrium. Findings - Experimental trials with several complex object show the method is capable of producing grasps which can support the object and resist external force/torque. Research limitations/implications - An accurate geometrical description of the feature to be grasped must be known in advance. This would typically be a cylindrical or prismatic portion of the object. Practical implications - There are many environments in which a dexterous multifingered gripper must be used due to the variety of objects which must be grasped. The results indicate that effective grasps can be selected for complex objects from a database of simulated grasps. Originality/value - The primary contribution of this paper is the use of a database of simulated grasps on simple graspable features to synthesize grasps on complex objects.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1108/01439910510573255
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    Paper (German National Licenses)
    Fulltext
  • 2
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    An IPMC microgripper with integrated actuator and sensing for constant finger-tip displacement (2015)
    Institute of Physics
    Details
    Publication Date: 2015-04-09
    Print ISSN: 0964-1726
    Electronic ISSN: 1361-665X
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Published by Institute of Physics
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    PAPER CURRENT
  • 3
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    Single active finger IPMC microgripper (2014)
    Institute of Physics
    Details
    Publication Date: 2014-12-18
    Print ISSN: 0964-1726
    Electronic ISSN: 1361-665X
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Published by Institute of Physics
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    PAPER CURRENT
  • 4
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    Demonstration of the Low-Cost Virtual Collaborative Environment (VCE) (1997)
    In:  CASI
    Details
    Publication Date: 2019-08-16
    Description: This paper demonstrates the feasibility of a low-cost approach of remotely controlling equipment. Our demonstration system consists of a PC, the PUMA 560 robot with Barrett hand, and commercially available controller and teleconferencing software. The system provides a graphical user interface which allows a user to program equipment tasks and preview motions i.e., simulate the results. Once satisfied that the actions are both safe and accomplish the task, the remote user sends the data over the Internet to the local site for execution on the real equipment. A video link provides visual feedback to the remote sight. This technology lends itself readily to NASA's upcoming Mars expeditions by providing remote simulation and control of equipment.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: URC97022 , NASA University Research Centers Technical Advances in Education, Aeronautics, Space, Autonomy, Earth and Environment; 1; 127-133
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 5
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    Vision Algorithms to Determine Shape and Distance for Manipulation of Unmodeled Objects (1998)
    In:  CASI
    Details
    Publication Date: 2019-08-15
    Description: This paper discusses the development of a robotic system for general use in an unstructured environment. This is illustrated through pick and place of randomly positioned, un-modeled objects. There are many applications for this project, including rock collection for the Mars Surveyor Program. This system is demonstrated with a Puma560 robot, Barrett hand, Cognex vision system, and Cimetrix simulation and control, all running on a PC. The demonstration consists of two processes: vision system and robotics. The vision system determines the size and location of the unknown objects. The robotics part consists of moving the robot to the object, configuring the hand based on the information from the vision system, then performing the pick/place operation. This work enhances and is a part of the Low Cost Virtual Collaborative Environment which provides remote simulation and control of equipment.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: 98URC147 , NASA University Research Centers Technical Advances in Aeronautics, Space Sciences and Technology, Earth Systems Sciences, Global Hydrology, and Education; 2 and 3; 824-829; NONP-NASA-CD-1999011585
    Format: text
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    NASA TECHNICAL REPORTS
  • 6
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    Sensory Interactive Teleoperator Robotic Grasping (1997)
    In:  CASI
    Details
    Publication Date: 2019-08-15
    Description: As the technological world strives for efficiency, the need for economical equipment that increases operator proficiency in minimal time is fundamental. This system links a CCD camera, a controller and a robotic arm to a computer vision system to provide an alternative method of image analysis. The machine vision system which was employed possesses software tools for acquiring and analyzing images which are received through a CCD camera. After feature extraction on the object in the image was performed, information about the object's location, orientation and distance from the robotic gripper is sent to the robot controller so that the robot can manipulate the object.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: URC97004 , NASA University Research Centers Technical Advances in Education, Aeronautics, Space, Autonomy, Earth and Environment; 1; 19-22
    Format: application/pdf
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    NASA TECHNICAL REPORTS
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