NDLI: Suboptimal algorithms for force distribution in multifingered grippers

Content Provider	IEEE Xplore Digital Library
Author	Kumar, V. Waldron, K.J.
Copyright Year	1989
Abstract	A method is presented which addresses the problem of determinating the appropriate distribution of forces among the fingers of a multifingered gripper grasping an object. The finger-object interactions are modeled as point contacts. The system is statically indeterminate, and an optimal solution for this problem is desired for force control. A fast and efficient suboptimal method for computing the grasping forces is presented. In addition to determining the equilibrating forces (the forces required to maintain equilibrium), it is essential to superpose interaction forces (the forces which squeeze the object) to ensure that the fingers do not slip. The decomposition of the equilibrating forces into forces perpendicular and parallel to the load wrench provides a useful simplification. If it is assumed that the normals to the object at the point of contract pass through the centroid of the contact points, the computations required to find the interaction forces are considerably simplified. Some simple grasps are used to evaluate the proposed algorithms.<>
Starting Page	491
Ending Page	498
Page Count	8
File Size	586143
File Format	PDF
ISSN	1042296X
Volume Number	5
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1989-08-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Grippers Fingers Force control Legged locomotion Mechanical engineering Kinematics Gravity Robotics and automation Friction Linear programming
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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