Planning of Regrasping Operations for a Dextrous Hand in Assembly Tasks

Authors:
Diego R. Rapela;Ulrich Rembold;Benjamin Kuchen
Affiliations:
Institute for Process Control and Robotics, Karlsruhe University, Germany e-mail: rapela@ira.uka.de;Institute for Process Control and Robotics, Karlsruhe University, Germany;Institute of Automatics, National University of San Juan, Argentina
Venue:
Journal of Intelligent and Robotic Systems
Year:
2002

Citing 2
Cited 1

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International Journal of Robotics Research
Introduction to Robotics: Mechanics and Control

Introduction to Robotics: Mechanics and Control

Planning 3D regrasp operations with a polyarticulated mechanical hand

ICOSSE'06 Proceedings of the 5th WSEAS international conference on System science and simulation in engineering

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Abstract

Dextrous hands are a powerful and flexible tool for the execution of assembly tasks due to their mechanical flexibility, small size, low inertia and extended workspace. Since the accessible workspace is limited, regrasping operations give more flexibility to such systems. In order to achieve this flexibility, a new concept for the planning of regrasp operations in handling parts is presented in this work, it operates on three abstraction levels.