Title :
On quality functions for grasp synthesis and fixture planning
Author :
Xu, J.J. ; Liu, G.F. ; Li, Z.X.
Author_Institution :
Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Technol., China
fDate :
26 April-1 May 2004
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 multi-fingered robotic hands and in fixture planning for manufacturing automation. We formulate the grasp-planning problem as optimization problems with respect to several 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 :
control system synthesis; dexterous manipulators; factory automation; optimisation; fixture planning; grasp synthesis; manufacturing automation; multifingered robotic hands; optimal grasp planning; optimality criterion; quality functions; Computational modeling; Contacts; Fingers; Fixtures; Friction; Geometry; Grasping; Manufacturing automation; Robotics and automation; Technology planning;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307172
