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Optimal grasps for planar multifingered robotic hands

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3 Author(s)
Gongliang Guo ; Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA ; Gruver, W.A. ; Qixian Zhang

A fast and simple algorithm for determining optimal grasps of a planar multifingered robotic hand is presented. Using a representation for the stiffness of a planar grasp system, the authors derive conditions for static equilibrium, task-oriented grasping, and stability. An optimization model for determining optimal grasps of a planar multifingered hand is established using a quality measure which includes the effect of the external disturbing forces and moments. A constrained gradient descent technique is used to compute the optimal grasps. An example demonstrates the applicability and effectiveness of the theory

Published in:

Systems, Man and Cybernetics, IEEE Transactions on  (Volume:22 ,  Issue: 1 )

Date of Publication:

Jan/Feb 1992

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