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Synthesis of 4-frictionless optimal grasp of polygonal objects
Cornellà Medrano, Jordi; Suárez Feijóo, Raúl
Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
The paper proposes a new approach to the problem of determining optimal form-closure grasps of polygonal objects using four frictionless contacts. A new set of grasp parameters is determined based only on the directions of the applied forces. These parameters are used to obtain a new formulation of the necessary and sufficient condition for the existence of four-finger frictionless form-closure grasps, as well as to determine the optimal grasp. Given a set of contact edges, using an analytical procedure a solution that is either the optimal one or is very close to it is obtained (only in this second case an iterative procedure is needed to fins a root of a non-linear equation). This procedure is the used for an efficient determination of the optimal grasp on the whole object. The algorithms have been implemented and numerical examples are shown
Àrees temàtiques de la UPC::Informàtica::Robòtica
Manipulators (Mechanisms)
Grasp synthesis
Optimal grasps
Form-closure
Intrinsic grasp parameters
Fixture design
Sintesis de prensions
Prensions òptimes
Paràmetres d'una prensió
Disseny de fixacions
Sintesis de prensiones
Prensiones óptimas
Parámetros de una prensión
Diseño de fijaciones
Robòtica -- Informes tècnics
Manipuladors (Mecanismes) -- Informes tècnics
Attribution-NonCommercial-NoDerivs 2.5 Spain
http://creativecommons.org/licenses/by-nc-nd/2.5/es/
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