DocumentCode
958743
Title
A method for grasp evaluation based on disturbance force rejection
Author
Strandberg, Morten ; Wahlberg, Bo
Author_Institution
Autom. Control Lab., R. Inst. of Technol., Stockholm, Sweden
Volume
22
Issue
3
fYear
2006
fDate
6/1/2006 12:00:00 AM
Firstpage
461
Lastpage
469
Abstract
This paper presents a method for grasp evaluation. It is based on the ability of the grasp to reject disturbance forces. The procedure takes the geometry of object into account, and it is also possible to incorporate task-oriented information. The evaluation criterion is formulated as a min-max optimization problem, for which an efficient algorithm is proposed and analyzed. The result of this algorithm is independent of scale and choice of reference frame, and can easily be visualized as a surface in the force space. The method is illustrated with several examples.
Keywords
manipulators; minimax techniques; stability; disturbance force rejection; evaluation criterion; grasp evaluation; min-max optimization problem; task-oriented information; Algorithm design and analysis; Automatic control; Grasping; Information geometry; Laboratories; Orbital robotics; Robot sensing systems; Robotics and automation; Stability; Visualization; Grasp stability; grasping; planning; robot hands;
fLanguage
English
Journal_Title
Robotics, IEEE Transactions on
Publisher
ieee
ISSN
1552-3098
Type
jour
DOI
10.1109/TRO.2006.870665
Filename
1638338
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