Workspace of 3-D multifingered manipulation

In this paper, we propose a numerical approach to generate the workspace of a multifingered robotic hand manipulating an object in the 3-D case. Based on feasibility analysis of grasps, the proposed approach uses a numerical optimization technique to first compute discretely the boundary of the possible motion of the grasped object, and then the limits of rotation about various axes at a specified feasible position of the object. Finally the boundaries of the linear motion and rotation are visualized in 3-D coordinates separately. This approach provides an effective solution to the challenging problem of workspace analysis of 3-D multifingered manipulation.