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Proceedings Paper

Object pose monitoring for multifinger grippers by laser scanning
Author(s): Thomas Fischer; Heinz Woern
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Paper Abstract

The human hand is a very complex grasping tool to handle objects of different size and shape. A lot of research work has been done to transfer these capabilities to artificial robot hands, called multifinger grippers. The major part of this work describes the controlling of multifinger grippers. Since there is no information about the object's pose available in real-time, the finger joint positions or the fingertip positions of the gripper are position feedback controlled. But the global goal is to handle an object. Therefore, it is more useful to control the object's pose itself. In this paper object pose monitoring by laser scanning is presented. With the help of laser scanning the object's pose is controlled in real-time. Some results of the object pose monitoring show this ability.

Paper Details

Date Published: 21 September 1999
PDF: 8 pages
Proc. SPIE 3824, Optical Measurement Systems for Industrial Inspection, (21 September 1999); doi: 10.1117/12.364247
Show Author Affiliations
Thomas Fischer, Univ. Karlsruhe (Germany)
Heinz Woern, Univ. Karlsruhe (Germany)


Published in SPIE Proceedings Vol. 3824:
Optical Measurement Systems for Industrial Inspection
Malgorzata Kujawinska; Wolfgang Osten, Editor(s)

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