Task defined grasp force solutions

Update item information
Publication Type Journal Article
School or College College of Engineering
Department Computing, School of
Creator Henderson, Thomas C.; Meek, Sanford G.
Other Author Grupen, Roderic A.; Biggers, Klaus B.
Title Task defined grasp force solutions
Date 1988
Description 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.
Type Text
Publisher University of Utah
First Page 1
Last Page 8
Subject grasp force; dextrous manipulation
Language eng
Bibliographic Citation Grupen, R. A., Henderson, T. C., Biggers, K. B., & Meek, S. G. (1988). Task defined grasp force solutions. 1-8. UUCS-88-001.
Series University of Utah Computer Science Technical Report
Relation is Part of ARPANET
Rights Management ©University of Utah
Format Medium application/pdf
Format Extent 838,030 bytes
Identifier ir-main,16141
ARK ark:/87278/s6sx6xsq
Setname ir_uspace
Date Created 2012-06-13
Date Modified 2015-04-24
ID 706558
Reference URL https://collections.lib.utah.edu/ark:/87278/s6sx6xsq
Back to Search Results