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Grip determination is m e n t i d b any twk level planning process and t o situations in whicb the pose of the part to be grasped is not known a paiori. This paper presents the complete force/moment equations for grasping via a rigid two-fingered gripper. Surface contact is modeled as a linear pressure variation. The quality measure of a grip i taken to be the coefficient of friction needed to keep it from slipping under applied forces and moments, the lower the coefficient of friction, the better the grip. The incorporation of this evaluation into a general grip selection strategy is discussed and several examples given.

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