Planning optimal grasps
- 31 December 1991
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2290-2295
- https://doi.org/10.1109/robot.1992.219918
Abstract
The authors address the problem of planning optimal grasps. Two general optimality criteria that consider the total finger force and the maximum finger force are introduced and discussed. Their formalization using various metrics on a space of generalized forces is detailed. The geometric interpretation of the two criteria leads to an efficient planning algorithm. An example of its use in a robotic environment equipped with two-jaw and three-jaw is describeKeywords
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