Abstract
Computation of grasps with form/force closure is one of the fundamental problems in the study of multifingered grasping and dextrous manipulation. Based on the geometric condition of the closure property, this paper presents a numerical test to quantify how far a grasp is from losing form/force closure. With the polyhedral approximation of the friction cone, the proposed numerical test can be formulated as a single linear program. An iterative algorithm for computing optimal force-closure grasps, which is implemented by minimizing the proposed numerical test in the grasp configuration space, is also developed. The algorithm is computationally efficient and generally applicable. It can be used for computing form/force-closure grasps on 3-D objects with curved surfaces, and with any number of contact points. Simulation examples are given to show the effectiveness and computational efficiency of the proposed algorithm.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
