Hostname: page-component-78c5997874-94fs2 Total loading time: 0 Render date: 2024-11-13T04:01:32.118Z Has data issue: false hasContentIssue false
  • English
  • Français

A new representation for a robot grasping quality measure

Published online by Cambridge University Press:  09 March 2009

Venugopal K. Varma  and
Uri Tasch
Venugopal K. Varma
Affiliation:
Oak Ridge National Laboratory Oak Ridge, TN 37831-6304 (USA).
Uri Tasch
Affiliation:
University of Maryland, Baltimore County, Maryland (USA).
Get access Rights & Permissions [Opens in a new window]

Summary

When an object is held by a multi-fingered hand, the values of the contact forces can be multivalued. An objective function, when used in conjunction with the frictional and geometric constraints of the grasp, can however, give a unique set of finger force values. The selection of the objective function in determining the finger forces is dependent on the type of grasp required, the material properties of the object, and the limitations of the röbot fingers. In this paper several optimization functions are studied and their merits highlighted. The paper introduces a graphical representation of the finger force values and the objective functions that enable one to select and compare various grasping configurations. The impending motion of the object at different torque and finger force values are determined by observing the normalized coefficient of friction plots.

Keywords

Grasping qualityMulti-fingered handRobot fingersOptimization functions
Type
Articles
Information
Robotica , Volume 13 , Issue 3 , May 1995 , pp. 287 - 295
Copyright
Copyright © Cambridge University Press 1995

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Li, Z. and Sastry, S., “Task oriented optimal grasping by multifingered robot hands” IEEE International Conference on Robotics and AutomationNice, France(1992) pp. 389–394.Google Scholar
2.Nakamura, Y., Nagai, K. and Yoshikawa, T., “Dynamics and stability in coordination of multiple robotic mechanisms” Int. J. Robotics Research 8(2), 44–61 (1989).CrossRefGoogle Scholar
3.Ferrari, C. and Canny, J., “Planning optimal grasps” IEEE International Conference on Robotics and AutomationNice, France(1992) pp. 2290–2295.Google Scholar
4.Lakshminaryayana, K., “Mechanics of form closure” ASME, Design Division Technical Conference,Minneapolis, Minnesota(1978) pp. 2–8.Google Scholar
5.Mishra, B., Schwartz, J. T. and Sharir, M., “On the existence and synthesis of multifinger positive grips” Algorithmica 541–558 (1987).Google Scholar
6.Markenscoff, X., Ni, L. and Papadimitriou, C. H., “The geometry of grasping” Int. J. Robotics Research 61–74 (1990).Google Scholar
7.Selig, J. M. and Rooney, J., “Reuleaux pairs and surfaces that cannot be gripped” Int. J. Robotics Research 79–87 (1989).Google Scholar
8.Barber, J., Volz, R. A., Desai, R., Rubinfeld, R., Schipper, B. D. and Wolter, A. J., “Automatic evaluation of two-fingered grips” IEEE Journal of Robotics and Automation RA-3(4), 356–361 (1987).Google Scholar
9.Wolter, J. D., Volz, R. A. and Woo, A. C., “Automatic generation of gripping positions” IEEE Transactions on Systems, Man, and Cybernetics SMC-15(2), 204–213 (1985).Google Scholar
10.Park, Young C. and Starr, Gregory P., “Grasp synthesis of polygonal objects using a three-fingered robot hand” Int. J. Robotics Research 11(3), 163–184 (1992).Google Scholar
11.Mukherjee, S. and Waldron, K. J., “An exact optimization of interaction forces in three-fingered manipulation” Transactions of ASME Journal of Mechanical Design 114, 48–54 (1992).Google Scholar
12.Kerr, J. and Roth, B., “Special grasping configurations with dexterous hands” IEEE International Conference on Robotics and AutomationSan Francisco(1986) pp. 1361–1367.Google Scholar
13.Varma, Venugopal K., “Robot Grasping: Stability and Optimization Issues” PhD thesis (University of Maryland. College Park, 01, 1993).Google Scholar
14.Kapur, J. N., Maximum Entropy Models in Science and Enginering John Wiley and Sons, Inc., New York, 1989).Google Scholar
15.Ben-Tal, A., Teboulle, M. and Charnes, A., “The role of duality in optimization problems involving entropy functionals with application to information theory” J. Optimization Theory and Applications 58(2), 209–223 (1988).Google Scholar
16.Teboulle, M., Personal correspondence (Mathematics Department, University of Maryland at Baltimore County, 1992).Google Scholar
17.Salisbury, J. K. and Roth, B., “Kinematic and force analysis of articulated mechanical hands” Transactions of ASME. Journal of Mechanisms, Transmissions, and Automation in Design 105, 35–41 (1983).CrossRefGoogle Scholar
18.Kerr, J. and Roth, B., “Analysis of multifingered hands” Int. J. Robotics Research 4(4), 3–17 (1986).Google Scholar