Title :
Optimal grasping using a multifingered robot hand
Author :
Park, Young C. ; Starr, Gregory P.
Author_Institution :
Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
Abstract :
Two different grasp indices, the uncertainty grasp index and the task compatibility grasp index, are proposed as a measure of grasp quality. When a robot hand grasps an object, error can occur due to various uncertainties. The uncertainty grasp index represents the effect of grasp position error on stable grasping. Also, when the hand grasps an object, the object will usually be used to accomplish a task. For such a task-oriented grasp, the hand should grasp an object in such a manner that it is stable and at the same time can accomplish the task most effectively. The task compatibility grasp index is formulated to represent how well the identified grasp can perform the task. An optimization problem is formulated to compute the grasp index, and the solution procedure is also presented
Keywords :
optimisation; robots; multifingered robot hand; optimal grasping; optimization problem; position error; stable grasping; task compatibility grasp index; uncertainty grasp index; Force measurement; Friction; Grasping; Kinematics; Laboratories; Mechanical engineering; Robotics and automation; Robots; Stability criteria; Surface resistance;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126064
