Hyperstatic grasping optimization with finger deformability and sliding constraints
- 17 December 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1923-1930
- https://doi.org/10.1109/robot.1994.351180
Abstract
This paper deals with optimization of grasping with multi-fingered robot hands, under general constraints such as finger deformability, sliding conditions and object positioning tolerances. A general formalism describing hyperstatic grasping is presented. An optimization criterion based on the minimization of securing forces and torques is introduced. Results concerning numerical simulation of grasping with a three-fingered gripper are presentedKeywords
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