Методы определения качества захвата объекта

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Методы определения качества захвата объекта
ISSN 0236-3941. Вестник МГТУ им. Н.Э. Баумана. Сер. Машиностроение. 2017. № 3 137
Просьба ссылаться на эту статью следующим образом:
Лесков А.Г., Бажинова К.В., Селиверстова Е.В. Методы определения качества захвата объек-
та // Вестник МГТУ им. Н.Э. Баумана. Сер. Машиностроение. 2017. № 3. C. 122–139.
DOI: 10.18698/0236-3941-2017-3-122-139
METHODS OF GRASP QUALITY EVALUATION
A.G. Leskov1
K.V. Bazhinova 1, 2
E.V. Seliverstova 1, 2
1 Dmitrov Branch of Bauman Moscow State Technical University, Orevo,
Moscow Region, Russian Federation
2 Bauman Moscow State Technical University, Moscow, Russian Federation
Abstract Keywords
This paper considers the problem of choosing the suitable
method for grasping objects. As the grasp must have such
properties as the disturbance resistance, dexterity, equilib-
rium and stability, the selection of the appropriate grasp
method is based on comparison of quantitative evaluation
of quality measures, associated with these properties. The
paper presents the classification of quality measures, as well
as the review of the most common performance criteria and
methods of their computation. Moreover, we developed an
algorithm to evaluate quality measures for an arbitrary
grasp. We give the calculation data of the considered crite-
ria and their analysis
Аutomatic grasping, grasp properties,
grasp quality, quality measure,
analytical grasp evaluation, robotic
gripper
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