Efficient Determination of Four-Point Form-Closure Optimal Constraints of Polygonal Objects

This paper proposes a new and more efficient solution to the problem of determining optimal form-closure constraints of polygonal objects using four contacts. New grasp parameters are determined based only on the directions of the applied forces, which are then used to determine the optimal grasp. G...

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Vydáno v:	IEEE transactions on automation science and engineering Ročník 6; číslo 1; s. 121 - 130
Hlavní autoři:	Cornella, Jordi, Suarez, Raul
Médium:	Journal Article Publikace
Jazyk:	angličtina
Vydáno:	Piscataway, NJ IEEE 01.01.2009 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	Algorithms Applied sciences Automation Classificació INSPEC Computational efficiency Computer science; control theory; systems Control engineering Control theory. Systems Exact sciences and technology Fingers Fixture design Fixtures form closure grasp synthesis Industrial control Informàtica intrinsic grasp parameters Iterative algorithms Iterative methods Mathematical analysis Mathematical models Mechanical engineering. Machine design Nonlinear equations Nonlinear programming optimal constraint Optimization Robotics Robots Robòtica Roots Sufficient conditions Testing Àrees temàtiques de la UPC Gripping optimal constraint grasp synthesis Iterative method form closure Non linear effect Clamping Modeling Work holder intrinsic grasp parameters Optimization Fixture design
ISSN:	1545-5955, 1558-3783
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Abstract	This paper proposes a new and more efficient solution to the problem of determining optimal form-closure constraints of polygonal objects using four contacts. New grasp parameters are determined based only on the directions of the applied forces, which are then used to determine the optimal grasp. Given a set of contact edges, using an analytical procedure a solution that is either the optimal one or is very close to it is obtained (only in this second case an iterative procedure is needed to find a root of a nonlinear equation). This procedure is used for an efficient determination of the optimal grasp on the whole object. The algorithms have been implemented and numerical examples are shown.
AbstractList	This paper proposes a new and more efficient solution to the problem of determining optimal form-closure constraints of polygonal objects using four contacts. New grasp parameters are determined based only on the directions of the applied forces, which are then used to determine the optimal grasp. Given a set of contact edges, using an analytical procedure a solution that is either the optimal one or is very close to it is obtained (only in this second case an iterative procedure is needed to find a root of a nonlinear equation). This procedure is used for an efficient determination of the optimal grasp on the whole object. The algorithms have been implemented and numerical examples are shown. [PUBLICATION ABSTRACT] This paper proposes a new and more efficient solution to the problem of determining optimal form-closure constraints of polygonal objects using four contacts. New grasp parameters are determined based only on the directions of the applied forces, which are then used to determine the optimal grasp. Given a set of contact edges, using an analytical procedure a solution that is either the optimal one or is very close to it is obtained (only in this second case an iterative procedure is needed to find a root of a nonlinear equation). This procedure is used for an efficient determination of the optimal grasp on the whole object. The algorithms have been implemented and numerical examples are shown. Note to Practitioners—This paper presents an algorithm that improves previous approaches in terms of efficiency in the determination of the optimal object constraint maximizing the minimum wrench that the object can support in any direction. The problem can always be solved using numerical optimization techniques but when time is relevant an efficient algorithm becomes of interest. Practical applications include optimal determination of fixtures and object grasps. Peer Reviewed This paper proposes a new and more efficient solution to the problem of determining optimal form-closure constraints of polygonal objects using four contacts. New grasp parameters are determined based only on the directions of the applied forces, [abstract truncated by publisher]. This paper proposes a new and more efficient solution to the problem of determining optimal form-closure constraints of polygonal objects using four contacts. New grasp parameters are determined based only on the directions of the applied forces, which are then used to determine the optimal grasp. Given a set of contact edges, using an analytical procedure a solution that is either the optimal one or is very close to it is obtained (only in this second case an iterative procedure is needed to find a root of a nonlinear equation). This procedure is used for an efficient determination of the optimal grasp on the whole object. The algorithms have been implemented and numerical examples are shown.
Author	Cornella, Jordi Suarez, Raul
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SubjectTerms	Algorithms Applied sciences Automation Classificació INSPEC Computational efficiency Computer science; control theory; systems Control engineering Control theory. Systems Exact sciences and technology Fingers Fixture design Fixtures form closure grasp synthesis Industrial control Informàtica intrinsic grasp parameters Iterative algorithms Iterative methods Mathematical analysis Mathematical models Mechanical engineering. Machine design Nonlinear equations Nonlinear programming optimal constraint Optimization Robotics Robots Robòtica Roots Sufficient conditions Testing Àrees temàtiques de la UPC
Title	Efficient Determination of Four-Point Form-Closure Optimal Constraints of Polygonal Objects
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