Grasp Evaluation Based on Unilateral Force
نویسندگان
چکیده
In this paper we present an algorithm which allows qualitative and quantitative analysis of the general force closure property of a grasp when ngertip contact forces are limited by unilateral friction constraints. It is applied to grasp synthesis during re-grasping sequences. Contact points for moving ngers which result in structurally stable grasps are calculated. The proposed method is suitable for two and three dimensional grasps with an arbitrary number of ngers. The approach is validated by numerical examples and in dynamical simulations.
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تاریخ انتشار 1999