The authors address the problem of planning optimal grasps. Two general optimality criteria that consider the total finger force and the maximum finger force are introduced and discussed. Their formalization using various metrics on a space of generalized forces is detailed. The geometric interpretation of the two criteria leads to an efficient planning algorithm. An example of its use in a robotic environment equipped with two-jaw and three-jaw is described

Planning Optimal Grasps

FERRARI, CARLO;
1992

Abstract

The authors address the problem of planning optimal grasps. Two general optimality criteria that consider the total finger force and the maximum finger force are introduced and discussed. Their formalization using various metrics on a space of generalized forces is detailed. The geometric interpretation of the two criteria leads to an efficient planning algorithm. An example of its use in a robotic environment equipped with two-jaw and three-jaw is described
Proceedings., 1992 IEEE International Conference on Robotics and Automation, 1992.
0818627204
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11577/2532028
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