Title :
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
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;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.845286