DocumentCode :
383190
Title :
A grasp evaluation procedure based on disturbance forces
Author :
Strandberg, Morten
Author_Institution :
Centre for Autonomous Syst., R. Inst. of Technol., Sweden
Volume :
2
fYear :
2002
fDate :
2002
Firstpage :
1699
Abstract :
A novel approach to grasp evaluation is proposed. The procedure is based on the ability of the grasp to resist disturbance forces. The result is easily visualized as a 3D surface in force space. Assuming that the grasped object is a polyhedron, the complete object geometry is taken into account when evaluating the grasp. This is an improvement over approaches that are based on the grasp matrix alone. Task information can be included by specifying object vertices that are likely to be in contact during the task. The procedure can be formulated as a min-max problem and an efficient algorithm for solving it is proposed. Additionally a simple example, demonstrating the concept and the algorithm, is shown.
Keywords :
data visualisation; dexterous manipulators; matrix algebra; minimax techniques; 3D surface; disturbance forces; force space; grasp evaluation procedure; grasp matrix; min-max problem; object vertices; polyhedron; task information; visualization; Ellipsoids; Extraterrestrial measurements; Performance evaluation; Resists; Robustness; Shape measurement; Space technology; Stability; Torque measurement; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
Type :
conf
DOI :
10.1109/IRDS.2002.1044000
Filename :
1044000
Link To Document :
بازگشت