Grasp synthesis of polygonal objects

A simple and efficient algorithm is presented to find the best force closure grasp on a planar polygon with a three-fingered robot hand. In searching for the best grasp, force closure grasps on each feasible combination of edges and/or vertices are constructed using computational geometry. A heuristic function formulated from the consideration of uncertainty in grasping is used to evaluate the quality of each grasp. A test of the algorithm on several different polygons shows that the resulting grasp is realistic and fast enough for real-time use