| Título |
Optimal Grasping Points Identification for a Rotational Four-fingered Aerogripper |
| Tipo |
Congreso |
| Sub-tipo |
Memoria |
| Descripción |
2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015 |
| Resumen |
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. |
| Observaciones |
DOI: 10.1109/RED-UAS.2015.7441017 |
| Lugar |
Cancún, Quintana Roo |
| País |
Mexico |
| No. de páginas |
272-277 |
| Vol. / Cap. |
|
| Inicio |
2015-11-23 |
| Fin |
2015-11-25 |
| ISBN/ISSN |
9781509017843 |
