Force distribution by optimizing friction angles for multifinger system

An efficient way of finding the force distribution by optimizing the contact friction angles, which are the angles between the contact forces and contact normals, for multifinger grasping systems is developed. Three steps (projection, residual wrench equilibrium, and optimization) are proposed to solve the force distribution problem. Examples are presented to show how the proposed method works. The results are also compared to those obtained by using Lagrange multipliers. The proposed method shows sufficient efficiency to be used for real-time control applications