DocumentCode
413999
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
Volume
1
fYear
2004
fDate
26 April-1 May 2004
Firstpage
333
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1307172
Filename
1307172
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