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Methods The reach

Methods The reach problem is solved by dedicatedLWPR Matching Units (MUs) The grasp configuration is selectedthrough all possibilities by a GeneticAlgorithm The manipulation is considered as a serialgrasp configurationsTuesday, October 19, 20104

Reach 3d position given by a parametrized offset from the objectcenter of gravity 3d orientation estimated by MUs Final solution computed by the MU which learns InverseKinematics of the Kuka manipulator using his directkinematics.approach anglePaulignan et.al.(8)opposition axisArbib et.al. (9)Tuesday, October 19, 20105