M.E. Jang (Korea)
Dual space, grasp, stability and index
In this paper, we present the quantitative analysis of grasp stability that is based on a dual space. We represent the three-dimensional friction cones in the robot work space as two-dimensional line segments in the dual space. Therefore, we have the advantage of reducing one dimension. We produce the grasp stability index by calculating intersection condition between line segments in the dual space, and drive the method that decides the optimal grasp point at which the robot hand is able to maintain the most equilibrium about external disturbances. The effectiveness of this method is verified with simulation examples.
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