On 2D 4-finger frictionless optimal grasps

Cornella, J.; Suárez, Raúl

doi:10.1109/iros.2003.1249727

Cited by 14 publications

(13 citation statements)

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“…b) Else (i.e., ) is one of the solutions of (15) (16) (17) where and are the distances from the origin of the wrench space to the faces of defined by and (i.e., the three faces of that contain ). This proposition refines the results presented in [29] and, in order to obtain , it is applied considering all the possible relations between the upper bound, the internal bounds, and the types of directional ranges, obtaining the following result. Fig.…”

Section: Definition 6: the Directional-optimal Graspsupporting

confidence: 70%

“…The obtention of a procedure to solve this specific problem with a reasonable computational cost was presented as an open problem in the literature [12] and, to our knowledge, it has not been solved yet. The approach developed here follows a previous work [29], where the optimal position of a fourth finger given the positions of the other three was solved in a fully analytical way. In this paper, the determination of the optimal position of the four fingers is deeply analyzed and a procedure to determine the optimal grasp without involving hard iterative searches is presented.…”

Section: Contributions Of This Papermentioning

confidence: 99%

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

Cornelia

Suárez

2009

IEEE Trans. Automat. Sci. Eng.

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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.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.

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Section: Definition 6: the Directional-optimal Graspsupporting

confidence: 70%

Section: Contributions Of This Papermentioning

confidence: 99%

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

Cornelia

Suárez

2009

IEEE Trans. Automat. Sci. Eng.

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“…Several works deal with FC grasps of 2D objects, both polygonal objects with three frictional contacts [5] [6] and four frictionless contacts [7] [8], and non-polygonal objects with four frictionless contacts [9] and three frictional contacts [10]. The problem has also been adressed for 3D objects, both polyhedra with three [11] and four [12] frictional contacts and objects of any shape with seven [13] frictionless contacts and three [14] [15] and four [16] frictional contacts.…”

Section: Introductionmentioning

confidence: 99%

Grasp analysis and synthesis of 2D articulated objects with n links

Tovar

Suárez

2015

Robotics and Computer-Integrated Manufacturing

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This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with n links considering frictionless contacts. The boundary of each link of the object is represented by a finite set of boundary points allowing links of any shape to be considered. Grasp analysis is carried out to verify whether a set of contact points on the object boundary allows a force-closure grasp, while the goal of grasp synthesis is to determine a set of contact points that allows a force-closure grasp. The paper describes the process of finding the elements of the generalized wrench vector generated by a force applied to any link of the articulated object and a procedure to search for a force-closure grasp based on these generalized wrenches. The approach has been implemented and some examples are included in the paper.

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“…Markenscoff et al [2] and Mishra et al [3] show that a 2D object can be immobilized with m + 1 = 4 frictionless fingers. Several works have been developed dealing with FC grasps on 2D objects, either polygonal objects with three frictional con-tacts [4] [5] and four frictionless contacts [6] [7], or nonpolygonal objects with four frictionless contacts [8], and objects with any shape [9]. Nevertheless, the majority of the work done in the area of object grasping with robotic hands is centered on the grasp of a single object as those mentioned above, either in 2D or 3D, while there are few works done on the grasp and manipulation of articulated objects composed by n links.…”

Section: Introductionmentioning

confidence: 99%