№1 (48), 2019. INFORMATION TECHNOLOGY, COMPUTER SCIENCE AND CONTROL

A.N. Syromyatin

Computer simulation of solids holding by an anthropomorphic gripper

In this paper, results of computer simulation of solids holding by an anthropomorphic gripper in form closure grasp on a plane and in three-dimensional space are considered. Anthropomorphic gripper and objects of manipulation, with various geometric properties, computer models are presented and principles of experiments are described. Objects of manipulation graphs of movements are plotted and analyzed. The results can be used to analyze the possibility of solids holding.

Keywords: anthropomorphic gripper, holding, form closure, computer simulation.

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