Spatial grasp synthesis for complex objects using model-based simulation

Purpose – Selection of an effective grasp of a complex object using a multifingered gripper is a challenging problem because of the many possible grasp positions that are typically available.Design/methodology/approach – Given the geometrical description of the particular object feature to be grasped, all feasible grasps are performed in offline simulation using a geometrically accurate model of the desired gripper. The six‐dimensional convex hull for each grasp is computed and archived. This convex hull indicates the span of forces and torques that the grasp can resist. When a grasp is needed the force/torque due to the total object weight is estimated and the best grasp is selected. The selected grasp has minimum peak contact force consistent with equilibrium.Findings – Experimental trials with several complex object show the method is capable of producing grasps which can support the object and resist external force/torque.Research limitations/implications – An accurate geometrical description of the f...

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