Positive Span of Force and Torque Components in Three-Dimensional Four-Finger Force-Closure Grasps
نویسندگان
چکیده
منابع مشابه
Positive Span of Force and Torque Components in Three-Dimensional Four-Finger Force-Closure Grasps
Testing whether a given grasp achieves force closure is a fundamental problem in grasping. Unfortunately, most of the force closure testing methods avoid dealing with the true quadratic friction cones by resorting to some linear approximation which unavoidably sacrifices completeness and accuracy. This paper presents a method, considering the true nonlinear friction cone, that can be used as a ...
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ژورنال
عنوان ژورنال: Advanced Robotics
سال: 2008
ISSN: 0169-1864,1568-5535
DOI: 10.1163/156855308x360596