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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Sugar, T.G. Kumar, V. |
| Copyright Year | 2000 |
| Description | Author affiliation: Mech. & Aerosp. Eng., Arizona State Univ., Tempe, AZ, USA (Sugar, T.G.) |
| Abstract | We develop two quality measures for the analysis and optimization of grasps and fixtures. The first metric is a measure of stability and is obtained by analyzing the effect of small perturbations in the position of the grasped object or small disturbance forces on the grasped object The second metric is a measure of robustness to errors in the positions of the fixture elements. In addition, we explore the effect that the stiffness of the fixture elements has on these two quality measures and propose a design optimization approach to maximize stability and robustness to errors. |
| Starting Page | 3561 |
| Ending Page | 3566 |
| File Size | 518670 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780358864 |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.2000.845286 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2000-04-24 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Fixtures Eigenvalues and eigenfunctions Force measurement Position measurement Robust stability Aerospace engineering Mechanical variables measurement Stability analysis Design optimization Mechanical engineering |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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