Title :
Hyperstatic grasping optimization with finger deformability and sliding constraints
Author :
Barkat, B. ; Besonnet, G. ; Lallemand, J.P.
Author_Institution :
Lab. de Mecanique des Solides, CNRS, Poitiers, France
Abstract :
This paper deals with optimization of grasping with multi-fingered robot hands, under general constraints such as finger deformability, sliding conditions and object positioning tolerances. A general formalism describing hyperstatic grasping is presented. An optimization criterion based on the minimization of securing forces and torques is introduced. Results concerning numerical simulation of grasping with a three-fingered gripper are presented
Keywords :
manipulators; optimisation; position control; finger deformability; hyperstatic grasping optimization; multi-fingered robot hands; numerical simulation; object positioning tolerances; optimization criterion; securing forces; securing torques; sliding constraints; three-fingered gripper; Constraint optimization; Cost function; Fingers; Friction; Geometry; Grippers; Kinematics; Numerical simulation; Service robots; Stability criteria;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351180
