Graphical representation of robot grasping quality measures
- Oak Ridge National Lab., TN (United States)
- Maryland Univ., Baltimore, MD (United States)
When an object is held by a multi-fingered hand, the values of the contact forces can be multivalued. An objective function, when used in conjunction with the frictional and geometric constraints of the grasp, can however, give a unique set of finger force values. The selection of the objective function in determining the finger forces is dependent on the type of grasp required, the material properties of the object, and the limitations of the robot fingers. In this paper several optimization functions are studied and their merits highlighted. A graphical representation of the finger force values and the objective function is introduced that enable one in selecting and comparing various grasping configurations. The impending motion of the object at different torque and finger force values are determined by observing the normalized coefficient of friction plots.
- Research Organization:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 10103649
- Report Number(s):
- CONF-940550-6; ON: DE94002189
- Resource Relation:
- Conference: Institute of Electrical and Electronics Engineers (IEEE) international conference on robotics,San Diego, CA (United States),8-13 May 1994; Other Information: PBD: [1993]
- Country of Publication:
- United States
- Language:
- English
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