Title :
Grasp evaluation based on unilateral force closure
Author :
Haidacher, Steffen ; Schlegl, Thomas ; Buss, Martin
Author_Institution :
Inst. of Autom. Control Eng., Tech. Univ. Munchen, Germany
Abstract :
We present an algorithm which allows qualitative and quantitative analysis of the general force closure property of a grasp when fingertip contact forces are limited by unilateral friction constraints. It is applied to grasp synthesis during regrasping sequences. Contact points for moving fingers which result in structurally stable grasps are calculated. The proposed method is suitable for two and three dimensional grasps with an arbitrary number of fingers. The approach is validated by numerical examples and in dynamical simulations
Keywords :
dexterous manipulators; friction; manipulator dynamics; matrix algebra; fingertip contact forces; general force closure property; grasp evaluation; qualitative analysis; quantitative analysis; regrasping sequences; structurally stable grasps; unilateral force closure; unilateral friction constraints; Aerodynamics; Algorithm design and analysis; Automatic control; Differential equations; Fingers; Friction; Performance analysis; Robots; Stability analysis; Testing;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.813041
