NDLI: Optimal distribution of fingertip force functions in dynamic grasping

Content Provider	IEEE Xplore Digital Library
Author	Guo, G. Gruver, W.A.
Copyright Year	1993
Description	Author affiliation: Kentucky Univ., Lexington, KY, USA (Guo, G.)
Abstract	The dynamics and forces associated with grasping by robot hands are discussed. Based on features of a grasping state, the geometrical and frictional constraints for a multi-fingered hand are characterized. To optimize the power consumed by the hand, a quality measure is defined by the squared sum of the fingertip force functions during task execution and used in an interior penalty function involving the closed region functional extreme value. A computational algorithm is proposed for determining an optimal distribution of fingertip force functions. The solution is based on a formulation as a nonlinear programming problem subject to the dynamic equations of motion, geometrical constraints, and frictional conditions. The authors give an example of a three-fingered hand grasping a pen and drawing a planar sine curve to demonstrate the approach.
Starting Page	971
Ending Page	977
File Size	426063
Page Count	7
File Format	PDF
ISBN	0818634502
DOI	10.1109/ROBOT.1993.292269
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-05-02
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Grasping Force measurement Robot kinematics Power measurement Dynamic programming Fingers Linear programming Stability Manufacturing systems Distributed computing
Content Type	Text
Resource Type	Article

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