Grasp synthesis of polygonal objects

摘要

A simple and efficient algorithm is presented to find the best force closure grasp on a planar polygon with a three-fingered robot hand. In searching for the best grasp, force closure grasps on each feasible combination of edges and/or vertices are constructed using computational geometry. A heuristic function formulated from the consideration of uncertainty in grasping is used to evaluate the quality of each grasp. A test of the algorithm on several different polygons shows that the resulting grasp is realistic and fast enough for real-time use.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>