Limiting and minimizing the contact forces in multifingered grasping

Zheng, Yu; Qian, Wen-Han

doi:10.1016/j.mechmachtheory.2005.11.001

Cited by 18 publications

(12 citation statements)

References 36 publications

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“…By using this grasp wrench set in contact force optimization or grasp quality evaluation, the maximum of normal contact forces is minimized [11]. In the future, we will show how the proposed ray-shooting algorithm operates in this case.…”

Section: Discussionmentioning

confidence: 99%

A numerical solution to the ray-shooting problem and its applications in robotic grasping

Zheng

Chew

2009

2009 IEEE International Conference on Robotics and Automation

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Fig. 1. Illustration of the distance algorithm and the ray-shooting algorithm.Abstract-Based on the distance algorithm by Gilbert et al., this paper presents a numerical algorithm for computing the intersection of the boundary of a compact convex set with a ray emanating from an interior point of the set, which is known as the ray-shooting problem. Affinely independent points on the boundary of the convex set are also determined such that the intersection point can be written as their convex combination. Because of its high efficiency and other good qualities, this algorithm provides superior solutions to three fundamental problems in robotic grasping, i.e., force-closure test, contact force optimization, and grasp quality evaluation, which can be formulated as the ray-shooting problem.

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Section: Discussionmentioning

confidence: 99%

A numerical solution to the ray-shooting problem and its applications in robotic grasping

Zheng

Chew

2009

2009 IEEE International Conference on Robotics and Automation

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“…Zhen et al [7] recently developed an optimization algorithm to calculate a set of initial and minimum forces more quickly than was possible in earlier calculations. In addition, Zhu et al [8][9][10][11][12][13] proposed a variety of linear optimization methods for the contact force to reduce the amount of calculation; these methods were studied in terms of simplification of the pointcontact friction cone, contact force optimization index, linear programming method, and real-time performance. While linear programming methods may be advantageous in terms of the computational efficiency, they may provide grasping forces that are too conservative or violate nonlinear friction constraints.…”

Section: Introductionmentioning

confidence: 99%

Grasping Torque Optimization for a Dexterous Robotic Hand Using the Linearization of Constraints

Jia

Lei

Wang

et al. 2019

Mathematical Problems in Engineering

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A new algorithm is proposed for the optimization of grasping torques. Previous work revealed that the optimization of the contact force can be simplified as a linear programming problem by replacing the nonlinear friction cone with a polyhedral cone. On this basis, further simplification and linearization is completed for various grasp contact constraints of the grasping system, and an optimization model is established with the minimum sum-of-squares of joint torques as an objective function. A timely and effective algorithm based on key constraint sets is then established. This methodology optimizes the joint torque directly and facilitates the control of the dexterous hand. A numerical example and experimental results show that the optimization algorithm has high precision and good real-time performance. The joint torque output obtained using the proposed algorithm was 27.6% lower than the result of the previous algorithm. The optimization algorithm can thus be used for optimal grasping control of a dexterous hand.

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“…A large number of existing grasping algorithms have been proposed in literature and many studies have been made to optimize the design of the fingers of a gripping member [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

Gripping Analysis of an Underactuated Finger

Penta

Rossi

Savino

2015

Advances in Intelligent Systems and Computing

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The paper presents a theoretical study about the gripping of an underactuated tendon driver finger. The studies presented in the paper have been performed to analyse the capability of the proposed device to apply forces on the grasped object and to analyse the behaviour of the contact actions during the grasping. The analysis of two models is reported and the results of simulations are shown. The obtained results show a good efficiency of the designed finger.

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Limiting and minimizing the contact forces in multifingered grasping

Cited by 18 publications

References 36 publications

A numerical solution to the ray-shooting problem and its applications in robotic grasping

A numerical solution to the ray-shooting problem and its applications in robotic grasping

Grasping Torque Optimization for a Dexterous Robotic Hand Using the Linearization of Constraints

Gripping Analysis of an Underactuated Finger

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