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Automatic Grasping of Objects by a Manipulator Equipped with a Multifinger Hand

  • K. V. Bazhinova
  • A. G. LeskovEmail author
  • E. V. Seliverstova
ROBOTICS
  • 20 Downloads

Abstract

We consider the problem of controlling a manipulator during the operation of the automatic grasping of a noncooperative object. The manipulator is equipped with a gripper in the form of a multifinger hand. The solution of the problem includes the planning and execution stages. When planning, the coordinates of contact points on the surface of the object, along with the coordinates of the manipulator and the fingers of the hand at the instant of a grasping are determined. When executing, the manipulator and the hand move from the initial position into the planned position.

Notes

ACKNOWLEDGMENTS

This work was financially supported by the Ministry of Education and Science of the Russian Federation in the context of carrying out state assignment 9.7793.2017/BCh (publication no. 9.7793.2017/8.9).

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Copyright information

© Pleiades Publishing, Ltd. 2019

Authors and Affiliations

  • K. V. Bazhinova
    • 1
  • A. G. Leskov
    • 1
    Email author
  • E. V. Seliverstova
    • 1
  1. 1.Bauman State Technical University, Moscow (Dmitrov Branch)DmitrovRussia

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