Modeling and Computer simulation of 3D object Grasping and Manipulation by dual fingers under nonholonomic constraints

Abstract

Construction of a numerical simulator for 3-D object pinching and manipulation by a pair of robot fingers is described on the basis of mathematical modeling of physical interactions between the object and fingers under rolling constraints. The simulator consists of a set of Lagrange's equations of motion of the fingers and object under holonomic constrains… (More)
DOI: 10.1109/IROS.2006.282369

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