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Machine Theory
Mechanism and Machine Theory 43 (2008) 576–590
ate/mechmt
On some weaknesses existing in optimal grasp planning
Yu Zheng *, Wen-Han Qian
Robotics Institute, Shanghai Jiao Tong University, Shanghai 200240, PR China
Received 8 January 2006; received in revised form 3 May 2007; accepted 8 May 2007
Available online 27 June 2007
Abstract
Optimal grasp planning has been investigated for over two decades. Still some important weaknesses in the previous
work are worthy of notice: (i) The kinematic structure and the geometric configuration of a robot hand were ignored. Fin-
gers were assumed to be capable of contacting an object anywhere. This is unrealistic. (ii) The grasp quality criterion was
general and often did not match the task requirement. (iii) The criterion depends on the choice of unit and coordinate
frame and lacks a clear physical meaning. This paper tries to remedy them. First, a general technique is proposed to find
all feasible grasps on an object conforming to the robot hand. Next, for a specified external wrench or an external wrench
set of a certain task, the maximum equilibrating contact force is adopted as the grasp quality criterion. Having an evident
meaning, it is independent of the choice of unit and coordinate frame. Finally, an algorithm is presented for seeking the
globally optimal grasp for which the value of the criterion is minimal among the feasible ones.
Ó 2007 Elsevier Ltd. All rights reserved.
Keywords: Optimal grasp planning (OGP); Feasibility; Optimality criterion; Multifingered grasping; Robot hand
1. Introduction
Optimal grasp planning (OGP) is a topic of finding the optimal contact positions on an object such that a
robot hand can manipulate it with high performance quality. This topic has been investigated with great
enthusiasm since the pioneer work of Salisbury and Roth [1]. A number of significant results have been
obtained, mainly in the following three