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On the Stability of Grasping

  • Kartonierter Einband
  • 24 Seiten
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Excerpt from On the Stability of Grasping: Three Fingers and a Planar PolygonThe problem of grasp planning is often approached wi... Weiterlesen
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Excerpt from On the Stability of Grasping: Three Fingers and a Planar Polygon

The problem of grasp planning is often approached with tacit assumptions that the object to be grasped is perfectly known, and that the end-effector or hand can be positioned with perfect control of force and location of every element in contact with the object. In many robotic applications, however, only a rough idea of object shape and location may be available, e. G. Provided by a vision system. It is shown in this paper that uncertain information can be sufficient to ensure successful grasping because an object tends to move towards a more stable configuration under certain grasping conditions. This behavior can be exploited in procedures for initial object acquisition or for pick-and-place operations, since the identity and/or orientation of the grasped object can be sensed after acquisition and subsequent robot motion appropriately adjusted.

In this paper issues involved in the stable approach to a grasp are investigated theoretically. The problem is solved entirely for a triangle constrained to move in a plane in contact with two fixed point fingers when the effects of mass and friction are ignored. The motion of the triangle is given as well as a description of paths which the moving finger may follow which result in an equilibrium grip. The grasping process is found to be quite stable, and remains stable more generally: cases are considered in which fingers are not points, mass and friction are present, and more general objects are grasped.

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Titel: On the Stability of Grasping
Untertitel: Three Fingers and a Planar Polygon (Classic Reprint)
EAN: 9781332092314
ISBN: 1332092314
Format: Kartonierter Einband
Anzahl Seiten: 24
Gewicht: 49g
Größe: H229mm x B152mm x T1mm
Jahr: 2015



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