Grasp evaluation based on unilateral force closure

Author

Haidacher, Steffen ; Schlegl, Thomas ; Buss, Martin

Author_Institution

Inst. of Autom. Control Eng., Tech. Univ. Munchen, Germany

Volume

1

fYear

1999

fDate

1999

Firstpage

424

Abstract

We present an algorithm which allows qualitative and quantitative analysis of the general force closure property of a grasp when fingertip contact forces are limited by unilateral friction constraints. It is applied to grasp synthesis during regrasping sequences. Contact points for moving fingers which result in structurally stable grasps are calculated. The proposed method is suitable for two and three dimensional grasps with an arbitrary number of fingers. The approach is validated by numerical examples and in dynamical simulations

Keywords

dexterous manipulators; friction; manipulator dynamics; matrix algebra; fingertip contact forces; general force closure property; grasp evaluation; qualitative analysis; quantitative analysis; regrasping sequences; structurally stable grasps; unilateral force closure; unilateral friction constraints; Aerodynamics; Algorithm design and analysis; Automatic control; Differential equations; Fingers; Friction; Performance analysis; Robots; Stability analysis; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on

Conference_Location

Kyongju

Print_ISBN

0-7803-5184-3

Type

conf

DOI

10.1109/IROS.1999.813041

Filename

813041