Geometrical approaches for optimal grasp synthesis

• Autores: Jordi Cornella Medrano
• Directores de la Tesis: Raúl Suárez Feijóo (dir. tes.)
• Lectura: En la Universitat Politècnica de Catalunya (UPC) ( España ) en 2007
• Idioma: español
• Tribunal Calificador de la Tesis: Luis Basañez Villaluenga (presid.), Joan Rosell Gratacos (secret.), Antonio Bicchi (voc.), Ángel Pascual del Pobil y Ferré (voc.), Carlos Balaguer Bernaldo de Quirós (voc.)
• Materias:
  • Matemáticas
    • Ciencia de los ordenadores
      • Inteligencia artificial
      • Sistemas automatizados de producción
    • Investigación operativa
      • Sistemas de control
      • Cibernética
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• Resumen

  • Grasping and manipulation of objects are fundamental tasks in robotics, required in many applications ranging from pick and place to assembly operations, These tasks are executed by means of the end-effector of the robot, which is usually designed to accomplish a specific task with specific objects. The current end-effectors used in the industry have reached a high degree of development and sophistication, executing the task for which have been designed with a high reliability in terms of repeatability, precision or execution speed. Nevertheless, the operating flexibility of these end-effectors is still limited and their performances frequently decrease drastically when small variations affect the task, the environment or the object for which they have been designed. Furthermore, the robots are being required to work in more unstructured environments and service applications, such as home or space applications. In these situations, the flexibility of the end-effector acquires more relevance, motivating the development of more general purpose end-effectors.

    The human hand is the clearest paradigm of high operating flexibility tool, able to grasp and to manipulate a wide range of objects with different shapes and sizes. Then, it is natural the proposal of developments of mechanical devices imitating the human hand performance.

    The advantages of the mechanical hands with respect to the conventional end-effectors are the result of increasing the number of degrees of freedom of the device, which also increase the complexity of the overall system. Some of the most significant problem are related both with hardware issues (actuation, sensing,...) and software issues (control techniques, grasp synthesis algorithms,...).

    This thesis deals with the development of grasp synthesis algorithms following the mechanical approach. In this approach, the physical and mechanical properties of the hand, the object and the contact points between them are analyzed, in order to obtain m