Title :
On 2D 4-finger frictionless optimal grasps
Author :
Cornella, J. ; Suarez, Raõl
Author_Institution :
Inst. d´´Organitzacio i Control de Sistemes Ind., Univ. Politecnica de Catalunya, Barcelona, Spain
Abstract :
The paper deals with the determination of optimal force-closure grasps for 2D polygonal objects. The problem is analyzed and some intrinsic properties of grasps are determined. The approach is applied to the determination of the position of a fourth finger given the positions of three other fingers. Moreover, the range of solutions that allow the force-closure property as well as the optimal value are analytically determined, checking only four points in the worst case. The algorithm has been implemented and numerical examples are included in the paper.
Keywords :
dexterous manipulators; grippers; optimal systems; position control; 2D polygonal objects; 4-finger frictionless optimal grasps; finger position determination; intrinsic grasp property; optimal force-closure grasps determination; Fingers; Force control; Force measurement; Industrial control; Iterative algorithms; Linear programming; Optimal control; Resists; Robustness; Uncertainty;
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.2003.1249727
