On computing three-finger force-closure grasps of 2-D and 3-D objects

被引：63
|
作者：
Li, JW [1 ]
Liu, H
Cai, HG
机构：
[1] Harbin Inst Technol, Robot Res Inst, Harbin 150001, Peoples R China
[2] DLR, German Aerosp Ctr, Inst Robot & Mechatron, D-82230 Wessling, Germany
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2003年 / 19卷 / 01期
关键词：
equilibrium grasps; force-closure grasps; grasp planning; multifingered robot hand;
D O I：
10.1109/TRA.2002.806774
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we present a novel algorithm for computing three-finger force-closure grasps of two-dimensional (2-D) and three-dimensional (3-D) objects. In the case of a robot hand with three hard fingers and point contact with friction, new necessary and sufficient conditions for 2-D and 3-D equilibrium and force-closure grasps have been deduced, and a corresponding algorithm for computing force-closure grasps has been developed. Based on geometrical analysis, the algorithm is simple and only needs a few algebraic calculations. Finally, the algorithm has been implemented and its effectivity has been demonstrated by two examples.
引用
收藏
页码：155 / 161
页数：7
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