Title :
Optimal grasps for planar multifingered robotic hands
Author :
Guo, Gongliang ; Gruver, William A. ; Zhang, Qixian
Author_Institution :
Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA
Abstract :
A fast and simple algorithm for determining optimal grasps of a planar multifingered robotic hand is presented. Using a representation for the stiffness of a planar grasp system, the authors derive conditions for static equilibrium, task-oriented grasping, and stability. An optimization model for determining optimal grasps of a planar multifingered hand is established using a quality measure which includes the effect of the external disturbing forces and moments. A constrained gradient descent technique is used to compute the optimal grasps. An example demonstrates the applicability and effectiveness of the theory
Keywords :
matrix algebra; optimisation; robots; constrained gradient descent technique; external disturbing forces; matrix algebra; optimal grasps; optimization model; planar multifingered robotic hands; quality measure; stability; static equilibrium; stiffness; task-oriented grasping; Automatic control; Communication system control; Fingers; Intelligent robots; Manipulators; Orbital robotics; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on