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- W73564997 abstract "The paper proposes a new approach to the problem of determining optimal form-closure grasps of polygonal objects using four frictionless contacts. A new set of grasp parameters is determined based only on the directions of the applied forces. These parameters are used to obtain a new formulation of the necessary and sufficient condition for the existence of four-finger frictionless form-closure grasps, as well as to determine the optimal grasp. Given a set of contact edges, using an analytical procedure a solution that is either the optimal one or is very close to it is obtained (only in this second case an iterative procedure is needed to fins a root of a non-linear equation). This procedure is the used for an efficient determination of the optimal grasp on the whole object. The algorithms have been implemented and numerical examples are shown" @default.
- W73564997 created "2016-06-24" @default.
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- W73564997 date "2006-06-01" @default.
- W73564997 modified "2023-09-26" @default.
- W73564997 title "Synthesis of 4-frictionless optimal grasp of polygonal objects" @default.
- W73564997 hasPublicationYear "2006" @default.
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