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Minimum-deflection grasps and fixtures

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3 Author(s)
Qiao Lin ; Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA ; J. Burdick ; E. Rimon

This paper presents an approach to planning compliant grasps and fixtures in which the object exhibits minimal deflection under external disturbances. The approach, which applies to general two- and three-dimensional grasps and fixtures represented by any quasi-rigid compliance model, employs a quality measure that characterises the grasped or fixtured object's worst-case deflection caused by disturbing wrenches lying in the unit wrench ball. To ensure well-defined notions of deflection and wrench balls, frame-invariant rigid body velocity and wrench norms are used. As illustrated by its application to fixtures of polygonal objects, our minimum-deflection approach can be effectively applied to planning grasps and fixtures where deflection significantly influences performance

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998