Cart (Loading....) | Create Account
Close category search window
 

Qualitative test and force optimization of 3D frictional force-closure grasps using linear programming

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Yun-Hui Liu ; Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Shatin, Hong Kong ; Mei Wang

This paper formalizes qualitative test of 3D frictional form-closure grasps of n robotic fingers as a problem of linear programming (LP). It is well-known that a sufficient and necessary condition for form-closure grasps is that the origin of the wrench space lies inside the convex hull of primitive contact wrenches. We demonstrate that the problem of querying whether the origin is contained by the convex hull is equivalent to a ray-shooting problem, which is dual to a LP problem based on the duality between convex hulls and convex polytopes. Furthermore, this paper addresses a problem of minimizing the L1 norm of the grasp force balancing an external wrench, which can be also transformed to a ray-shooting problem. We have implemented the algorithms and confirmed their real-time efficiency

Published in:

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

Date of Conference:

16-20 May 1998

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.