DocumentCode :
1538559
Title :
Computation of 3-D form-closure grasps
Author :
Dan Ding ; Shuguo Wang
Author_Institution :
Dept. of Autom. & Comput.-Aided Eng., Chinese Univ. of Hong Kong, Shatin
Volume :
17
Issue :
4
fYear :
2001
fDate :
8/1/2001 12:00:00 AM
Firstpage :
515
Lastpage :
522
Abstract :
We address the problems of computing form-closure regions as well as computing optimal fingertip locations yielding n-finger form-closure grasps of three-dimensional (3-D) objects. Given grip points of k fingers not in form-closure, we propose a sufficient and necessary condition for the n-k fingers to achieve an n-finger form-closure grasp. Based on the condition, it is demonstrated that the problem of computing form-closure regions can be formulated as an existence problem of a solution for a set of inequalities. A sufficient condition is also proposed to simplify the computation of form-closure regions. As to searching for optimal fingertip locations, we transform the problem to a nonlinear programming problem subject to a set of constraints arising from that sufficient and necessary condition. Furthermore, a performance index is defined by measuring the distance between the center of mass of the grasped object and the center of the contact points. Finally, we have implemented the approach proposed and verified its efficiency by several numerical examples
Keywords :
dexterous manipulators; nonlinear programming; performance index; 3D form-closure grasps; existence problem; grip points; n-finger form-closure grasp; nonlinear programming problem; optimal fingertip locations; performance index; sufficient and necessary condition; Fingers; Grasping; Kinematics; Performance analysis; Robot programming; Robotics and automation; Space technology; Stability analysis; Sufficient conditions; Testing;
fLanguage :
English
Journal_Title :
Robotics and Automation, IEEE Transactions on
Publisher :
ieee
ISSN :
1042-296X
Type :
jour
DOI :
10.1109/70.954765
Filename :
954765
Link To Document :
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