Optimal grasping points identification for a rotational four-fingered aerogripper
Author (s): Vazquez, J.; Giacomini, M.; Escareno, J.; Rubio, E.; Sossa, H.Journal: RED-UAS 2015, 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems
Volume: IEEE
Pages: 272 - 277
Date: 2016
Abstract:
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.
Bibtex:
@INPROCEEDINGS{JV-VGERS-16,
author={J. Vazquez and M. Giacomini and J. Escareno and E. Rubio and H. Sossa},
booktitle={2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)},
title={Optimal grasping points identification for a rotational four-fingered aerogripper},
year={2016},
pages={272-277},
keywords={Force;Grasping;Grippers;Optimization;Robots;Robustness;Shape},
doi={10.1109/RED-UAS.2015.7441017}
} 
