Abstract
This paper proposes a fast method for generating wrench space to grasp quality measure. First, some wrench vectors are sampled from all wrench vectors generated by Minkowski sum, and a grasp quality measure is computed for each sampling number. Second, curve fitting are performed for each grasp quality measure to obtain a function between number of wrench vector and grasp qu0ality measure. Finally, to estimate a grasp quality measure used all wrench vectors, number of all wrench vectors input the function. As an evaluation result, comparing with using all wrench vectors, it was possible to compute a grasp quality measure by computation time within 1/5 and by error within 10%.
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