Determination of Optimal Contact Points for Constraining a Prismatic Object by a Group of Mobile Robots

This paper proposes a novel approach to determine the optimal contact points for constraining a prismatic object by a group of mobile robots. The optimal contact points are found such that the twin objectives of minimum number of robots required for form closure and the least force required for grasping are satisfied. The mobile robots are assumed to be able to apply a normal force without friction, on the objects. Genetic algorithms have been used to solve the problem. The advantages of the proposed method are that as the object is in form closure it can resist all external forces and moments. A simulation has been made in Matlab that shows that the proposed algorithm works for objects of different shapes