Regrasping
نویسندگان
چکیده
Regrasping must be performed whenever a robot's grasp of an object is not compatible with the task it must perform. Imagine a robotic cell with an arm alternatively picking up parts from a conveyor or a pallet and inserting them. The parts are presented in arbitrary orientations. I t can happen that the task cannot be achieved within a single grasp, due to a conjunction f constraints of the two following types, at pick-up and insertion:
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