scholarly journals The Infrared Imaging Spectrograph (IRIS) for TMT: motion planning with collision avoidance for the on-instrument wavefront sensors

2016 ◽  
Author(s):  
Edward L. Chapin ◽  
Jennifer Dunn ◽  
Jason Weiss ◽  
Kim Gillies ◽  
Yutaka Hayano ◽  
...  
Keyword(s):  
Motion Planning ◽  
Collision Avoidance ◽  
Infrared Imaging ◽  
Wavefront Sensors ◽  
Imaging Spectrograph

scholarly journals The Infrared Imaging Spectrograph (IRIS) for TMT: on-instrument wavefront sensors (OIWFS) and NFIRAOS interface

2010 ◽  
Author(s):  
David Loop ◽  
Vlad Reshetov ◽  
Murray Fletcher ◽  
Robert Wooff ◽  
Jennifer Dunn ◽  
...  
Keyword(s):  
Infrared Imaging ◽  
Wavefront Sensors ◽  
Imaging Spectrograph

scholarly journals The Infrared Imaging Spectrograph (IRIS) for TMT: instrument overview

2014 ◽  
Author(s):  
Anna M. Moore ◽  
James E. Larkin ◽  
Shelley A. Wright ◽  
Brian Bauman ◽  
Jennifer Dunn ◽  
...  
Keyword(s):  
Infrared Imaging ◽  
Imaging Spectrograph

InfraRed Imaging Spectrograph (IRIS) on TMT: OIWFS opto-mechanical design update

2020 ◽  
Author(s):  
Jenny Atwood ◽  
Brian Hoff ◽  
David Andersen ◽  
Jeffrey Crane ◽  
Jennifer S. Dunn
Keyword(s):  
Infrared Imaging ◽  
Mechanical Design ◽  
Imaging Spectrograph

Grasp Motion Planning with Redundant DOF of Grasping Pose

2013 ◽  
Vol 25 (3) ◽  
pp. 538-544 ◽  
Author(s):  
Kazuyuki Nagase ◽  
◽  
Yasumichi Aiyama
Keyword(s):  
Motion Planning ◽  
Collision Avoidance ◽  
Target Object ◽  
Degree Of Freedom ◽  
New Method ◽  
Redundant Manipulators ◽  
Grasp Planning

In this paper, we propose a new method of grasp planning for a manipulator with a parallel jaw gripper in obstacle environment. We consider collision avoidance as a problem of motion planning in obstacle environments. In general, however, a redundant degree of freedom (DOF) is required to avoid obstacle and to grasp. In our proposal, we pay attention to redundant DOF in a grasping pose. Using redundant DOF in a grasping pose, a manipulator can avoid obstacles and grasp a target object. It does not require any redundant manipulators.

Sign in / Sign up

Export Citation Format

Share Document