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
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Beschreibung
Zusammenfassung: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.
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ISSN:1545-5955
1558-3783
DOI:10.1109/TASE.2008.916771