書誌事項
- タイトル別名
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- 1A1-J03 Grasp planning in obstacle environment using DOF of grasping work(Robot Hand Mechanism and Grasping Strategy(1))
説明
In this paper, we propose grasp planning of manipulator with parallel gripper in obstacle environment. We consider collision avoidance as a problem of motion planning in obstacle environment. However redundant degree of freedom is required to avoid obstacle and to grasp. In proposal plan, we observe that redundant degree of freedom that grasp pose has. Using DOF of grasping work, it can avoid obstacle and grasp target object without redundant manipulator. Constructed symple algorithm, proposal plan has a benefit for system integration.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2012 (0), _1A1-J03_1-_1A1-J03_4, 2012
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205939188736
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- NII論文ID
- 110009907303
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可