dc.creator | Uribe A.J. | |
dc.creator | Rosario J.M. | |
dc.creator | Aviles O.F. | |
dc.date | 2009 | |
dc.date | 2015-06-26T13:33:32Z | |
dc.date | 2015-11-26T15:32:54Z | |
dc.date | 2015-06-26T13:33:32Z | |
dc.date | 2015-11-26T15:32:54Z | |
dc.date.accessioned | 2018-03-28T22:41:24Z | |
dc.date.available | 2018-03-28T22:41:24Z | |
dc.identifier | | |
dc.identifier | International Review Of Mechanical Engineering. , v. 3, n. 5, p. 547 - 552, 2009. | |
dc.identifier | 19708734 | |
dc.identifier | | |
dc.identifier | http://www.scopus.com/inward/record.url?eid=2-s2.0-77952080300&partnerID=40&md5=f6a98bd1d459f1e5fa90a22506458ef6 | |
dc.identifier | http://www.repositorio.unicamp.br/handle/REPOSIP/91744 | |
dc.identifier | http://repositorio.unicamp.br/jspui/handle/REPOSIP/91744 | |
dc.identifier | 2-s2.0-77952080300 | |
dc.identifier.uri | http://repositorioslatinoamericanos.uchile.cl/handle/2250/1262600 | |
dc.description | The following work presents the methodology used in order for develop a low cost Virtual Based Anthropomorphic Gripper application, for Automation Grasping Tasks of common object geometries in a robotics work-cell environment containing a six degrees of freedom Industrial Robot and an Anthropomorphic hand based device attached to it. In order to comply the low cost development requirement, a set of parameters are defined so the programming and editing of the virtual environment fulfills the specifications. Subsequently, the study of the human and mechanical hands kinematics allows the creation of virtual objects resembling their behavior and appearance. By studying human grasp postures it can be seen that each finger has a position from which a grasping table can be created, this information also works for an anthropomorphic gripper as they share similar anatomy. Based on these similarities, three basic shapes are chosen to test the application, a spherical, cylindrical and planar, which are available on the graphic user interface, so it can be executed on the defined virtual device. For testing purposes, a real anthropomorphic device is virtualized and from the virtual grasps performed, an information file is created for its execution on the workcell The developed application allows the virtualization of a six to nineteen degrees of freedom anthropomorphic hand, either using commercial or open source 3D modeling software, initial applications are on offline grasp task planning. The program execution is operating system independent, which makes it portable as well of the creation and edition of 3D geometries. Finally, future work can be aimed for training and educational purposes and the research expanded for improving the grasping technique using supervisory systems and shape recognition. © 2009 Praise Worthy Prize S.r.l. | |
dc.description | 3 | |
dc.description | 5 | |
dc.description | 547 | |
dc.description | 552 | |
dc.description | Nicholson Daren T, Chalk, C., Robert, W., Funnell, J., Daniel, S.J., Can virtual reality improve anatomy education? A randomised controlled study of a computer-generated three-dimensional anatomical ear model (2006) Medical Education 2006, (40), pp. 1081-1087. , Blackwell Publishing | |
dc.description | Yin, X., Wonka, P., Razdan, A., Generating 3D Building Models from Architectural Drawings: A Survey (2009) IEEE Computer Society | |
dc.description | Burdea, G., The synergy between virtual reality and robotics (1999) IEEE Transactions On Robotics and Automation, 15, pp. 400-410 | |
dc.description | Hirukawa, H., Matsui, T., Hirai, S., Konaka, K., Kawamura, S., A Prototype of Standard Teleoperation Systems On An Enhanced Vrml, 3, pp. 1801-1806. , Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS '97, Grenoble - France | |
dc.description | Haage, M., Nilsson, K., On the Scalability of Visualization In Manufacturing, 1, pp. 43-51. , in Proceedings. ETFA '99. 1999 7th IEEE International Conference on Emerging Technologies and Factory Automation | |
dc.description | Freund, E., Rossmann, J., Multimedia and Virtual Reality Techniques For the Control of ERA, 2, pp. 1921-1926. , Proceedings of the 2001 IEEE international Conference on Robotics & Automation | |
dc.description | Safaric, R., Parkin, R.M., Czarnecki, C.A., Calkin, D.W., Virtual environment for telerobotics (2001) Integrated Computer-Aided Engineering, 8, pp. 95-104 | |
dc.description | Yang, X., Chen, Q., Petriu, D., Petriu, E., (2004) Internet-based Teleoperation of A Robot Manipulator For Education, pp. 7-11. , Proceedings. The 3rd IEEE International Workshop on Haptic, Audio and Visual Environments and Their Applications | |
dc.description | Kartoun, U., Stern, H., Edan, Y., Virtual Reality Telerobotic System, p. 10. , e-ENGDET 2004 4th international conference on e-engineering & digital enterprise technology | |
dc.description | Butterfass, J., Grebenstein, M., Liu, H., Hirzinger, G., Dlr-hand II: Next Generation of A Dexterous Robot Hand, 1, pp. 109-114. , Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation | |
dc.description | Lovchik, C., Diftler, M., The Robonaut Hand: A Dexterous Robot Hand For Space, 2, pp. 907-912. , Proceedings. 1999 IEEE International Conference on Robotics and Automation, Detroit - MI - USA | |
dc.description | Avilés, O.F., Rosário, J.M., Uribe, A., Lara, F., Five Fingered Antrhopomorphic Hand Design: Muc-1, , 7th Brazilian Conference on Dynamics, Control and Applications, Presidente Prudente, Brasil | |
dc.description | Afshari, K.E., Payandeh, S., Toward Implementation of Java/VRML Environment for Planning Training and Tele-Operation of Robotic Systems (1999) Americas Conference On Information Systems-AMCIS | |
dc.description | Belousov, I.R., Chellali, R., Clapworthy, G.J., Virtual Reality Tools for Internet Robotics (2004) Eighth IEEE International Symposium On Distributed Simulation and Real-Time Applications | |
dc.description | (2004) Robotics & Automation Magazine, 11 (4), pp. 110-122. , Miller and P. Allen, Graspit! a versatile simulator for robotic grasping, IEEE | |
dc.description | Allen, P., Santos, V., Valero-Cuevas, F., From robotic hands to human hands: A visualization and simulation engine for grasping research (2005) Industrial Robot: An International Journal, 32, pp. 55-63. , Miller | |
dc.description | Goldfeder, C., Allen, P., Lackner, C., el Pelossof, R., Grasp Planning via Decomposition Trees (2007) ICRA, p. 07 | |
dc.description | Tsepkovskiy, Y., Antonov, L., Kocev, C., Palis, F., Shoylev, N., Development Of A 3D And VRML Virtual Hand Models For Different Mechanical Gripper (2007) Journal of The University of Chemical Technology and Metallurgy | |
dc.description | Kollreider, A., Ram, D., Scherer, R., Grieshofer, P., (2007) Robotic Hand/finger Rehabilitation For Apoplexy Patients, pp. 41-42. , European Symposium Technical Aids for Rehabilitation - TAR, Berlin - Germany | |
dc.description | Napier, J., The prehensile movements of the human hand (1956) The Journal of Bone and Joint Surgery | |
dc.description | Cutkosky, M.R., On grasp choice, grasp models, and the design of hands formanufacturing tasks (1989) IEEE Transactions On Robotics and Automation, 5, pp. 269-279 | |
dc.description | Smith, N., Egert, C., Cuddihy, E., Walters, D., Implementing virtual robots in java3d using a subsumption architecture (1999) WebNet | |
dc.description | Speck, A., Klaeren, H., (1999) Robosim: Java 3d Robot Visualization, 2, pp. 821-826. , Industrial Electronics Society. IECON'99 Proceedings | |
dc.description | Afshari, K.E., Payandeh, S., (1999) Toward Implementation of Java/vrml Environment For Planning, Training and Tele-operation of Robotic. Systems, , Americas Conference on Information Systems-AMCIS | |
dc.description | Haage, M., Nilsson, K., On the Scalability of Visualization In Manufacturing, 1, pp. 43-51. , Proceedings. ETFA '99. 1999 7th IEEE International Conference on Emerging Technologies and Factory Automation | |
dc.description | Herías, F.A.C., Puente, S.T., Medina, F.T., Segarra, V., Navarrete, J., Flexible system for simulating and tele-operating robots through the internet (2005) Journal of Robotic Systems, 22, pp. 157-166 | |
dc.description | Mainardi, A., Rosário, J.M., Uribe, A.J., (2008) Virtual Environment For Cartesian Robot Teaching, , Robocontrol 08, 3rd Applied Robotics and Collaborative Systems Engineering with emphasis in Industrial Applications and Educational Environments Workshop, São Carlos and Bauru, São Paulo, Brazil | |
dc.language | en | |
dc.publisher | | |
dc.relation | International Review of Mechanical Engineering | |
dc.rights | fechado | |
dc.source | Scopus | |
dc.title | Anthropomorphic Gripper Virtual Environment For Automation Grasping Tasks | |
dc.type | Artículos de revistas | |