Efficient method for computing the force distribution of a three-fingered grasp

Ian David Walker; John B. Cheatham, Jr.; Yu-Che Chen

doi:10.1117/12.25431

1 February 1991 Efficient method for computing the force distribution of a three-fingered grasp

Ian David Walker, John B. Cheatham, Jr., Yu-Che Chen

Proceedings Volume 1387, Cooperative Intelligent Robotics in Space; (1991) https://doi.org/10.1117/12.25431
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

A methodology and an algorithmic implementation are proposed for the choice of the feasible grasp points on irregular objects. In particular, the three-fingered grasp of a planar object is considered. Grasp points are chosen on the basis of an analysis of the internal grasping forces using a point contact model. It is shown that the frictional constraint at each finger can be easily satisfied by tuning the magnitude of the normal components of the finger forces. Thus, the forces needed to be generated at each finger during manipulation can be efficiently calculated.

Citation Download Citation

Ian David Walker, John B. Cheatham, Jr., and Yu-Che Chen "Efficient method for computing the force distribution of a three-fingered grasp", Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); https://doi.org/10.1117/12.25431

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