Grasp stability and feasibility for an arm with an articulated hand

Abstract

A system for generating a stable, feasible grasp of a polyhedral object is presented. A set of contact points on the object that can result in a stable grasp is found, and a feasible grasp in which the robot contacts the object at those contact points is determined. The algorithm is designed for the Salisbury hand mounted on a Puma 560 arm, but a similar approach could be used to develop grasping systems for other robots. Simulations show that the system can generate a wide range of grasps in difficult situations.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>