<title>Object pose monitoring for multifinger grippers by laser scanning</title>

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.© (1999) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.