| 基于几何模型的机器人抓取规划系统 |
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| 引用本文： | 徐毓良 王仲宾. 基于几何模型的机器人抓取规划系统[J]. 浙江大学学报(工学版), 1991, 25(6): 695-699 |
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| 作者姓名： | 徐毓良 王仲宾 |
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| 作者单位： | 浙江大学计算机系(徐毓良)，浙江大学计算机系(王仲宾) |
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| 摘 要： | 本文介绍一个基于几何模型的抓取规划系统RGPS。该系统的核心是一个几何推理机,它采用稳定性准则作为启发信息,自动实现抓取规划。在CRT上用三维图形显示抓取规划的结果。
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| 关 键 词： | 几何模型 机器人 手爪 抓取规划 |
A robot grasp planning system based on the geometric modle of the target object |
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| Xu Yuliang Wang Zhongbin. A robot grasp planning system based on the geometric modle of the target object[J]. Journal of Zhejiang University(Engineering Science), 1991, 25(6): 695-699 |
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| Authors: | Xu Yuliang Wang Zhongbin |
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| Affiliation: | Dept. of Compater |
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| Abstract: | This paper describes a robot grasp planning system (RGPS) based on the geometric model of target object. Its main part is a geometric inference mechanism (GIM).The stability rule is adopted which acts as the heuristic information of GIM . Grasp planning is realized by RGPS automatically, and the 3-D grasping result is displyed on CRT. |
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| Keywords: | geometric model robot gripper grasp planning geometric inference mechanism |
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