On computing three-finger force-closure grasps of 2-D and 3-D objects

被引：70

作者：

Li, JW ^{[1
]}

Liu, H

Cai, HG

机构：

[1] Harbin Inst Technol, Robot Res Inst, Harbin 150001, Peoples R China

[2] DLR, German Aerosp Ctr, Inst Robot & Mechatron, D-82230 Wessling, Germany

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2003年 / 19卷 / 01期

关键词：

equilibrium grasps; force-closure grasps; grasp planning; multifingered robot hand;

D O I：

10.1109/TRA.2002.806774

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we present a novel algorithm for computing three-finger force-closure grasps of two-dimensional (2-D) and three-dimensional (3-D) objects. In the case of a robot hand with three hard fingers and point contact with friction, new necessary and sufficient conditions for 2-D and 3-D equilibrium and force-closure grasps have been deduced, and a corresponding algorithm for computing force-closure grasps has been developed. Based on geometrical analysis, the algorithm is simple and only needs a few algebraic calculations. Finally, the algorithm has been implemented and its effectivity has been demonstrated by two examples.

引用

页码：155 / 161

页数：7

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