This paper deals with the problem of force-closure analysis for soft multi-fingered grasps. The first step is the study of the relationship between the external wrench space and the manipulation force space at any con...This paper deals with the problem of force-closure analysis for soft multi-fingered grasps. The first step is the study of the relationship between the external wrench space and the manipulation force space at any contact. Constraint force set, strictly constraint force set and normal force set are defined in the contact force space, followed by an investigation of their relationships. Based on the convexity of the friction constraints for soft finger contact, the necessary and sufficient conditions for force-closure grasps are derived. Accordingly an efficient algorithm for testing force-closure is presented. Some illustrative examples are given.展开更多
Currently, most efficient algorithms for force-closure analysis and dynamic force distribution utilize linear programming, but friction models are nonlinear. Substituting polyhedral cones for circular cones of Coulomb...Currently, most efficient algorithms for force-closure analysis and dynamic force distribution utilize linear programming, but friction models are nonlinear. Substituting polyhedral cones for circular cones of Coulomb friction realizes the linearization of the frictional point contact constraint. So far, however, there is no approach to soft finger contact. This paper presents such an approach. Then the foregoing algorithms can be extended to grasping with soft finger contact. Herein an optimal force distribution algorithm for soft multifingered grasps is developed with an illustrative example.展开更多
文摘This paper deals with the problem of force-closure analysis for soft multi-fingered grasps. The first step is the study of the relationship between the external wrench space and the manipulation force space at any contact. Constraint force set, strictly constraint force set and normal force set are defined in the contact force space, followed by an investigation of their relationships. Based on the convexity of the friction constraints for soft finger contact, the necessary and sufficient conditions for force-closure grasps are derived. Accordingly an efficient algorithm for testing force-closure is presented. Some illustrative examples are given.
文摘Currently, most efficient algorithms for force-closure analysis and dynamic force distribution utilize linear programming, but friction models are nonlinear. Substituting polyhedral cones for circular cones of Coulomb friction realizes the linearization of the frictional point contact constraint. So far, however, there is no approach to soft finger contact. This paper presents such an approach. Then the foregoing algorithms can be extended to grasping with soft finger contact. Herein an optimal force distribution algorithm for soft multifingered grasps is developed with an illustrative example.
