Task defined grasp force solutions

Force Control for dextrous manipulation has been approached algebraically with a great deal of success, however, the computational burden created when such approaches are applied to grasps consisting of many contacts is prohibitive. This paper describes a procedure which restricts the complexity of the algebraic system of equations, and makes use of mathematical programming techniques to select a solution which is optimal with respect to an objective function. The solution is constrained by contact surface friction properties and the kinematic limitations of the hand. The application of the procedure to the selection of minimal internal grasp forces which allow the application of task defined external forces is described. Examples of the procedure are presented.