Grasp Stability Analysis in Dual-Space and Optimal Grasp Planning for Two-Fingered Robots in 2-D

듀얼 공간을 이용한 이차원 두 손가락 로봇의 파지 안정성 분석 및 최적 파지 계획

  • 국명호 (충남대학교 BK21 메카트로닉스사업단) ;
  • 장명언 (국방과학연구소) ;
  • 이지홍 (충남대학교 BK21 메카트로닉스사업단)
  • Published : 2006.11.01


This paper addresses the problem of computing grasp stability of the object for two-fingered robots in two dimensions. The concepts of force-closure and dual space are introduced and discussed in novel point of view, and we transform friction cones in a robot work space to line segments in a dual space. We newly define a grasp stability index by calculating intersection condition between line segments in dual space. Moreover, we propose a method to find the optimal grasp points of the given object by comparing the defined grasp stability index. Its validity and effectiveness are investigated and verified by simulations for quadrangle object and elliptic objects.


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