Dynamic force distribution in multifingered grasping by decomposition and positive combination

This paper presents a general algorithm for computing the optimal dynamic force distribution in multifingered grasping. It consists of two phases. In the offline phase, we select a spanning set for the required dynamic resultant wrench and find a corresponding spanning set for the total contact force. Then, in the online phase, the total contact force is obtained by decomposition of the resultant wrench into the former spanning set and a coefficient vector followed by positive combination of the latter spanning set with the vector. To make the online computation as simple as possible, iterative operation is executed offline and only arithmetic operation is employed online. To improve the grasping quality, the two spanning sets are selected elaborately.