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Biagiotti L , Melchiorri C., Vassura G.
"Control of a Three-dof Robotic Gripper for Space Applications"
 
Type Conference
Author(s) Biagiotti L , Melchiorri C., Vassura G.
Title Control of a Three-dof Robotic Gripper for Space Applications
Editor Symposium on Artificial Intelligence, Robotics and Automation in Space, ISAIRAS'01
Keywords Space Robotics, Robotic Gripper, Proximity sensors, Vision.
Abstract
In this paper we present an experimental activity for the validation of a robotic gripper for space applications, currently under development at the University of Bologna with the support of ASI, the Italian Space Agency. The gripper is compatible with the EUROPA arm, developed by ASI and Tecnospazio, and also with PaT, the Payload Tutor, proposed again by ASI. The kinematic structure and sensory equipment of this gripper have several interesting features, including the capability of firmly grasping objects with irregular shapes and with a rather wide range of dimensions, and the possibility of ‘exploring’ unknown objects or grasping free-flying objects by simultaneously applying the contact constraints.
Document 1d68.Document.pdf (425432 bytes)
Year 2001


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