Hyperstatic grasping optimization with finger deformability and sliding constraints

Abstract

This paper deals with optimization of grasping with multi-fingered robot hands, under general constraints such as finger deformability, sliding conditions and object positioning tolerances. A general formalism describing hyperstatic grasping is presented. An optimization criterion based on the minimization of securing forces and torques is introduced. Results concerning numerical simulation of grasping with a three-fingered gripper are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>