Control-based synthesis and tracking of grasping points

We synthesize grasping points for planar grasps. We formulate and solve the problem from control theory point of view. Designed control law moves initial arbitrary contact points smoothly from a non force-closure configuration to a closest force-closure one. Control law is independent from the friction coefficient, and it is robust to small changes in shape and pose of the object, and it can track a force closure configuration on the object when the object moves and deforms. Final control error yields a quantitative measure for the solution. We also impose unilateral constraints to the control law to eliminate solutions which are not feasible for the hand. We finally show how to synchronize synthesis of grasping points and the reaching motion of the arm-hand manipulator for grasping. This melts the computation time of the synthesis of grasping points in the reaching motion of the manipulator. We validated the proposed approach on real images of the objects.