Title :
A study on quality functions for grasp synthesis and fixture planning
Author :
Xu, J.J. ; Liu, G.F. ; Wang, X. ; Li, Z.X.
Author_Institution :
Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Technol., China
Abstract :
Planning a proper set of contact points on a given object/workpiece so as to satisfy a certain optimality criterion is a common problem in grasp synthesis for multifingered robotic hands and in fixture planning for manufacturing automation. In this paper, we formulate the grasp planning problem as optimization problems with respect to two grasp quality functions. For real-time computation, a simplified Min-analytic-center problem is proposed. Simulation and experimental results illustrate the validity of the proposed approach for optimal grasp planning.
Keywords :
dexterous manipulators; minimax techniques; planning (artificial intelligence); real-time systems; automation; fixture planning; grasp synthesis; min-analytic-center problem; multifingered robotic hands; optimal grasp planning; optimality criterion; optimization; quality functions; real-time computation; Computational modeling; Contacts; Fingers; Fixtures; Friction; Geometry; Grasping; Manufacturing; Robots; Technology planning;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249686
