Optimal grasps for planar multifingered robotic hands

摘要

A fast and simple algorithm for determining optimal grasps of a planar multifingered robotic hand is presented. Using a representation for the stiffness of a planar grasp system, the authors derive conditions for static equilibrium, task-oriented grasping, and stability. An optimization model for determining optimal grasps of a planar multifingered hand is established using a quality measure which includes the effect of the external disturbing forces and moments. A constrained gradient descent technique is used to compute the optimal grasps. An example demonstrates the applicability and effectiveness of the theory.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>