Planning optimal grasps
نویسندگان
چکیده
In this paper we will address the problem of planning optimal grasps. Two general optimality criteria, that consider the total finger force and the maximum finger force will be introduced and discussed. Moreover their formalization, using various metrics on a space of generalized forces, will be detailed. The geometric interpretation of the two criteria will lead to an efficient planning algorithm. An example of its use in a robotic environment equipped with two-jaw and three-jaw grippers will also be shown.
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