DocumentCode
2239269
Title
A new algorithm for three-finger force-closure grasp of polygonal objects
Author
Li, Jia-Wei ; Jin, Ming-He ; Liu, Hong
Author_Institution
Robotics Res. Inst., Harbin Inst. of Technol., China
Volume
2
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
1800
Abstract
We prove a new necessary and sufficient condition for 2D three-finger equilibrium grasps and implement a geometrical algorithm for computing force-closure grasps of polygonal objects in this article. The algorithm is quite simple and only needs some algebraic calculations. An easily computable measure of how far a grasp is from losing force-closure is provided as well. Finally, we implement the algorithm and demonstrate its usefulness by an example.
Keywords
computational geometry; dexterous manipulators; grippers; mathematical programming; 2D three-finger equilibrium grasps; algebraic calculations; geometrical algorithm; multifingered dextrous robot hand; necessary condition; polygonal objects; sufficient condition; three-finger force-closure grasp; Aerospace testing; Fingers; Force measurement; Friction; Linear programming; Mechatronics; Robots; Sufficient conditions; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241855
Filename
1241855
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