Graphical representation of robot grasping quality measures

摘要

There are multiple solutions to the values of the finger forces of an object held by a multi-fingered hand. An objective function, is used in conjunction with the frictional and geometric constraints of the grasp to give a unique set of finger force values. The selection o the objective function in determining the finger forces is dependent on the type of grasp required, the material properties of the object, and the limitations of the robot fingers. In this paper several optimization functions are studied and their merits highlighted. A graphical representation of the finger force values and the objective function is introduced that enable one in selecting and comparing various grasping configurations. The impending motion of the object at different torque and finger force values are determined by observing the Normalized coefficient of friction plots.