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Optimum Grasp and Coordinated Manipulation by Articulated Multifingered Gripper
Author(s) -
AlFahed Nuseirat A.M.,
AlMusili S.M.Ar.
Publication year - 2001
Publication title -
zamm ‐ journal of applied mathematics and mechanics / zeitschrift für angewandte mathematik und mechanik
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.449
H-Index - 51
eISSN - 1521-4001
pISSN - 0044-2267
DOI - 10.1002/1521-4001(200103)81:3<185::aid-zamm185>3.0.co;2-d
Subject(s) - grasp , obstacle , object (grammar) , task (project management) , computer science , control theory (sociology) , robot , contact force , function (biology) , mathematical optimization , minification , mathematics , artificial intelligence , engineering , control (management) , physics , classical mechanics , evolutionary biology , political science , law , biology , programming language , systems engineering
This paper addresses static grasping and quasi‐static manipulation of an object by multifingered robot gripper. The presented approaches are based on the inequality theory. First, the grasp problem is formulated as a constrained optimization problem. The cost function which will be minimized is the complementary energy. The equilibrium equation, friction restrictions, and nonnegative restriction on the normal contact forces yield the constraints. Second, based on the assumption of a fixed object to the hand and obstacle free space, a minimization problem for the coordinated manipulation of the grasped object is developed. The proposed formulations allow us to obtain minimum contact forces and minimum joint movements to achieve the desired task. The developed methods are illustrated by numerical examples.