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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Veröffentlicht in:	IEEE transactions on automation science and engineering Jg. 6; H. 1; S. 121 - 130
Hauptverfasser:	Cornella, Jordi, Suarez, Raul
Format:	Journal Article Verlag
Sprache:	Englisch
Veröffentlicht:	Piscataway, NJ IEEE 01.01.2009 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	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
Online-Zugang:	Volltext
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