Computation of 3-D form-closure grasps

We address the problems of computing form-closure regions as well as computing optimal fingertip locations yielding n-finger form-closure grasps of three-dimensional (3-D) objects. Given grip points of k fingers not in form-closure, we propose a sufficient and necessary condition for the n-k fingers...

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Bibliographic Details
Published inIEEE transactions on robotics and automation Vol. 17; no. 4; pp. 515 - 522
Main Authors Ding, Dan, Yun-Hui, Liu, Wang, Shuguo
Format Journal Article
LanguageEnglish
Published New York IEEE 01.08.2001
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Automation
CAE
Center of mass
Computation
Computer aided engineering
Computer programming
Contact
Fingers
Grasping
Inequalities
Kinematics
Nonlinear programming
Optimization
Performance analysis
Robot programming
Robotics and automation
Robots
Space technology
Stability analysis
Sufficient conditions
Testing
Transforms
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Summary:We address the problems of computing form-closure regions as well as computing optimal fingertip locations yielding n-finger form-closure grasps of three-dimensional (3-D) objects. Given grip points of k fingers not in form-closure, we propose a sufficient and necessary condition for the n-k fingers to achieve an n-finger form-closure grasp. Based on the condition, it is demonstrated that the problem of computing form-closure regions can be formulated as an existence problem of a solution for a set of inequalities. A sufficient condition is also proposed to simplify the computation of form-closure regions. As to searching for optimal fingertip locations, we transform the problem to a nonlinear programming problem subject to a set of constraints arising from that sufficient and necessary condition. Furthermore, a performance index is defined by measuring the distance between the center of mass of the grasped object and the center of the contact points. Finally, we have implemented the approach proposed and verified its efficiency by several numerical examples.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
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ISSN:1042-296X
2374-958X
DOI:10.1109/70.954765