On computing three-finger force-closure grasps of 2-D and 3-D objects
نویسندگان
چکیده
In this paper, we present a novel algorithm for computing three-finger force-closure grasps of two-dimensional (2-D) and three-dimensional (3-D) objects. In the case of a robot hand with three hard fingers and point contact with friction, new necessary and sufficient conditions for 2-D and 3-D equilibrium and force-closure grasps have been deduced, and a corresponding algorithm for computing force-closure grasps has been developed. Based on geometrical analysis, the algorithm is simple and only needs a few algebraic calculations. Finally, the algorithm has been implemented and its effectivity has been demonstrated by two examples.
منابع مشابه
Easily Computable Optimum Grasps in 2-D and 3-D
We consider the problem of nding optimum force closure grasps of two and three-dimensional objects. Our focus is on grasps which are useful in practice, namely grasps with a small number of ngers, with friction at the contacts. Assuming frictional contact and rounded nger tips|very mild assumptions in practice|we give new upper (and lower) bounds on the number of ngers necessary to achieve forc...
متن کاملNew Techniques for Computing Four-Finger-Force-Closure Grasps of Polyhedral Objects
It was shown in 12] that four-nger force-closure grasps fall into three categories: concurrent, pencil, and regulus grasps. We propose new techniques for computing these three types of grasps. We have implemented them and present examples.
متن کاملA new algorithm for three-finger force-closure grasp of polygonal objects
Abstract—We prove a new necessary and sufficient condition for 2D three-finger equilibrium grasps and implement a geometrical algorithm for computing force-closure grasps of polygonal objects in this article. The algorithm is quite simple and only needs some algebraic calculations. An easily computable measure of how far a grasp is from losing forceclosure is provided as well. Finally, we imple...
متن کاملOn Computing Four-Finger Equilibrium and Force-Closure Grasps of Polyhedral Objects
This paper addresses the problem of computing stable grasps of three dimensional poly hedral objects We consider the case of a hand equipped with four hard ngers and assume point contact with friction We prove new necessary and su cient conditions for equilibrium and force closure and present a geometric characterization of all possible types of four nger equilibrium grasps We then focus on con...
متن کاملSynthesis of force-closure grasps on 3-D objects based on the Q distance
The synthesis of force-closure grasps on three–dimensional (3-D) objects is a fundamental issue in robotic grasping and dextrous manipulation. In this paper, a numerical force-closure test is developed based on the concept of distance. With some mild and realistic assumptions, the proposed test criterion is differentiable almost everywhere and its derivative can be calculated exactly. On this b...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- IEEE Trans. Robotics and Automation
دوره 19 شماره
صفحات -
تاریخ انتشار 2003