Automatic two-fingered grip selection

Grip determination is essential to any task level planning process and to situations in which the pose of the part to be grasped is not known a priori. This paper presents the complete force/moment equations for grasping via a rigid two-fingered gripper. Surface contact is modeled as a linear pressure variation. The quality measure of a grip is taken to be the coefficient of friction needed to keep it from slipping under applied forces and moments, the lower the coefficient of friction, the better the grip. The incorporation of this evaluation into a general grip selection strategy is discussed and several examples given.

[1]  Richard Paul Collins Paul,et al.  Modelling, trajectory calculation and servoing of a computer controlled arm , 1972 .

[2]  T. Lozano-Perez,et al.  Robot programming , 1983, Proceedings of the IEEE.

[3]  Richard A. Volz,et al.  Automatic generation of gripping positions , 1985, IEEE Transactions on Systems, Man, and Cybernetics.

[4]  Ronald S. Fearing.  Simplified Grasping and Manipulation with Dextrous Robot Hands , 1984 .

[5]  Brenda S. Baker,et al.  Stable prehension with a multi-fingered hand , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[6]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[7]  Kang G. Shin,et al.  Minimum-time path planning for robot arms and their dynamics , 1985, IEEE Transactions on Systems, Man, and Cybernetics.

[8]  Tomas Lozano-Perez,et al.  The Design of a Mechanical Assembly System , 1976 .

[9]  H. Hanafusa,et al.  Stable Prehension by a Robot Hand with Elastic Fingers , 1977 .

[10]  J. Michael McCarthy,et al.  On grasping planar objects with two articulated fingers , 1985, IEEE J. Robotics Autom..

[11]  David F. Shanno,et al.  Remark on “Algorithm 500: Minimization of Unconstrained Multivariate Functions [E4]” , 1980, TOMS.

[12]  Michael Brady,et al.  Parts Description And Acquisition Using Vision , 1982, Other Conferences.

[13]  Elmer G. Gilbert,et al.  Distance functions and their application to robot path planning in the presence of obstacles , 1985, IEEE J. Robotics Autom..

[14]  J. Michael McCarthy,et al.  Computing the friction forces associated with a three fingered grasp , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[15]  Tomás Lozano-Pérez,et al.  Automatic Planning of Manipulator Transfer Movements , 1981, IEEE Transactions on Systems, Man, and Cybernetics.