Optimal three finger graspsConsideration is given to the problem of optimal force distribution among three point fingers holding a planar object. A scheme that reduces the nonlinear optimization problem to an easily solved generalized eigenvalue problem is proposed. This scheme generalizes and simplifies results of Ji and Roth (1988). The generalizations include all possible geometric arrangements and extensions to three dimensions and to the case of variable coefficients of friction. For the two-dimensional case with constant coefficients of friction, it is proved that, except for some special cases, the optimal grasping forces (in the sense of minimizing the dependence on friction) are those for which the angles with the corresponding normals are all equal (in absolute value).
Document ID
19890066062
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Demmel, J. (New York Univ. New York, NY, United States)
Lafferriere, G. (New York University NY, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Mechanical Engineering
Meeting Information
Meeting: 1989 IEEE International Conference on Robotics and Automation