Metrics for analysis and optimization of grasps and fixtures

Author

Sugar, Thomas G. ; Kumar, Vijay

Author_Institution

Mech. & Aerosp. Eng., Arizona State Univ., Tempe, AZ, USA

Volume

4

fYear

2000

fDate

2000

Firstpage

3561

Abstract

We develop two quality measures for the analysis and optimization of grasps and fixtures. The first metric is a measure of stability and is obtained by analyzing the effect of small perturbations in the position of the grasped object or small disturbance forces on the grasped object The second metric is a measure of robustness to errors in the positions of the fixture elements. In addition, we explore the effect that the stiffness of the fixture elements has on these two quality measures and propose a design optimization approach to maximize stability and robustness to errors

Keywords

manipulators; matrix algebra; optimisation; position control; design optimization approach; fixtures; grasped object; grasps; metrics; quality measures; small disturbance forces; small perturbations; stability measure; Aerospace engineering; Design optimization; Eigenvalues and eigenfunctions; Fixtures; Force measurement; Mechanical engineering; Mechanical variables measurement; Position measurement; Robust stability; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.845286

Filename

845286