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

Volume

4

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

3429

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249686

Filename

1249686