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Grasp planning for multifingered robot hands

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

The grasping stiffness and the contacting stiffness for the grasping system of a multifingered robot hand are characterized. Using a Lagrangian formulation, the authors develop the small displacement vibration equation of the grasping system. Based on the features of a grasping state, they characterize object stability, contact stability, contact position, and uniaxial fingertip force constraints for grasp planning. From the asymptotical stability of the vibration system, a quality measure is defined that is used as an objective for grasp planning, and grasp planning is formulated as a nonlinear programming problem. An example for a three-fingered robot hand grasping a spherical object demonstrates the applicability and effectiveness of this approach. Numerical results using a constrained conjugate direction descent technique are described

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992