A general dynamic force distribution algorithm for multifingered grasping

Author

Zuo, Bing-Ran ; Qian, Wen-Han

Author_Institution

Res. Inst. of Robotics, Shanghai Jiaotong Univ., China

Volume

30

Issue

1

fYear

2000

fDate

2/1/2000 12:00:00 AM

Firstpage

185

Lastpage

192

Abstract

A general dynamic force distribution (DFD) algorithm for multifingered grasping is presented. Based on the convexity and cone property of contact constraints, the optimal internal force is defined. Determination of the contact force is divided into two phases: (1) determine the direction of the optimal internal force during grasp planning and (2) determine the manipulation force and compensation factor during task manipulation. The total computation cost consists of off-line numerical iterations and on-line analytical computations. Only the latter is related to the real-time control. The algorithm can directly deal with the nonlinear and/or coupled constraints and well overcome the temporal discontinuity

Keywords

computational geometry; planning (artificial intelligence); real-time systems; compensation factor; cone property; contact constraints; convexity; coupled constraints; manipulation force; optimal internal force; real-time control; task manipulation; temporal discontinuity; Computational efficiency; Constraint optimization; Couplings; Design for disassembly; Friction; Heuristic algorithms; Linear programming; Quadratic programming; Safety; Torque;

fLanguage

English

Journal_Title

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

1083-4419

Type

jour

DOI

10.1109/3477.826959

Filename

826959