Metrics for Analysis and Optimization of Grasps and Fixtures
نویسندگان
چکیده
We develop two quality measures for the analysis and optimization of grasps and xtures. The rst metric is a measure of stability and is obtained by analyzing the eeect of small perturbations in the position of the grasped object or small disturbance forces on the grasped object. The second metric is a measure of ro-bustness to errors in the positions of the xture elements. In addition, we explore the eeect that the stii-ness of the xture elements has on these two quality measures and propose a design optimization approach to maximize stability and robustness to errors.
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