Analysis on stable grasping
We propose a new method for analyzing the stable grasping. The characteristic point in this paper is to apply the concept of dual space.The mapping of dual space is introduced and discussed from a novel point of view, and we transform friction cones in the robot work space into line segments in the...
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| Veröffentlicht in: | WSEAS Transactions on Systems and Control 2007-02, Vol.2 (2), p.109-116 |
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| Hauptverfasser: | , , |
| Format: | Artikel |
| Sprache: | eng |
| Online-Zugang: | Volltext |
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| Zusammenfassung: | We propose a new method for analyzing the stable grasping. The characteristic point in this paper is to apply the concept of dual space.The mapping of dual space is introduced and discussed from a novel point of view, and we transform friction cones in the robot work space into line segments in the dualspace. We newly propose the Grasp Stability Index (GSI) by calculating intersection condition between line segments in the dual space. Its validity and effectiveness are investigated and verified by application examples for polygonal objects. |
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| ISSN: | 1991-8763 |