| Autor: |
Jia-Wei Li, Hong Liu, He-Gao Cai |
| Předmět: |
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| Zdroj: |
IEEE Transactions on Robotics & Automation; Feb2003, Vol. 19 Issue 1, p155, 7p, 16 Diagrams |
| Abstrakt: |
In this paper, we present a novel algorithm for computing three-finger force-closure grasps of two-dimensional (2-D) and three-dimensional (3-D) objects. In the case of a robot hand with three hard fingers and point contact with friction, new necessary and sufficient conditions for 2-D and 3-D equilibrium and force-closure grasps have been deduced, and a corresponding algorithm for computing force-closure grasps has been developed. Based on geometrical analysis, the algorithm is simple and only needs a few algebraic calculations. Finally, the algorithm has been implemented and its effectivity has been demonstrated by two examples. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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