Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Grasp Stability Analysis in Dual-Space and Optimal Grasp Planning for Two-Fingered Robots in 2-D

듀얼 공간을 이용한 이차원 두 손가락 로봇의 파지 안정성 분석 및 최적 파지 계획

  • 국명호 (충남대학교 BK21 메카트로닉스사업단) ;
  • 장명언 (국방과학연구소) ;
  • 이지홍 (충남대학교 BK21 메카트로닉스사업단)
  • Published : 2006.11.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper addresses the problem of computing grasp stability of the object for two-fingered robots in two dimensions. The concepts of force-closure and dual space are introduced and discussed in novel point of view, and we transform friction cones in a robot work space to line segments in a dual space. We newly define a grasp stability index by calculating intersection condition between line segments in dual space. Moreover, we propose a method to find the optimal grasp points of the given object by comparing the defined grasp stability index. Its validity and effectiveness are investigated and verified by simulations for quadrangle object and elliptic objects.

Keywords

References

  1. M. R. Cutkosky, 'On grasp choice, grasp models, and the design of hands for manufacturing tasks,' Trans. On Robotics and Automation, vol. 5, no. 3, June 1989 https://doi.org/10.1109/70.34763
  2. Y. Funahashi, T. Yamada, M. Tate, and Y. Suzuki, 'Grasp stability analysis considering the curvatures at contact points,' Proc. Of the 1996 IEEE Int. Conf. on Robotics and Automation, 1996 https://doi.org/10.1109/ROBOT.1996.509174
  3. P. Jenmalm, A. Goodwin, R. Johansson, 'Control of grasp stability when humans lift objects with different surface curvatures,' Journal of Neurophysiology, 1998
  4. W. Howard and V. Kumar, 'On the stability of grasped objects,' IEEE Tran. On Robotics and Automation. 1996 https://doi.org/10.1109/70.544773
  5. T. Yamada, T. Koishikura, Y. Mizuno, N. Mimura, and Y. Funahashi, 'Stability analysis of 3D grasps by a multifingered hand,' Proc. of the 2001 IEEE Int. Con. on Robotics & Automation, 2001 https://doi.org/10.1109/ROBOT.2001.932993
  6. T. Yamada, T. Ooba, T. Yamamoto, N. Mimura, and Y. Funahashi, 'Grasp stability analysis of two objects in two dimensions,' Proc. of the 2005 IEEE Int. Con. on Robotics & Automation, 2005
  7. B. Kim, B. Yi, S. Oh, and I. Suh, 'Optimal grasp planning of object based on weighted composite grasp index,' Journal of Contol, Automation and Systems Engineering, vol. 6, no. 11, 2000
  8. D. Montana, 'Contact stability for two-fingered grasps,' IEEE Trans. On Robotics & Automation, 1992 https://doi.org/10.1109/70.149939
  9. G. Guo, and W. Gruver, 'Dynamic grasp planning of multifingered robot hands based on asymptotic stability,' IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetic, vol. 26, no. 5, 1996 https://doi.org/10.1109/3477.537317
  10. Y. Li, S. Tso, and Q. Meng, 'Grasping force measurement for dynamic grasp stability assessment,' IEEE Transaction on Instrumentation and Measurement, 1998 https://doi.org/10.1109/19.746599
  11. S. Arimoto, J. Bae, and K. Tahara, 'Stability on a manifold: simultaneous realization of grasp and orientation control of an object by a pair of robot fingers,' Proc. of the 2003 IEEE Int. Con. on Robotics & Automation, 2003 https://doi.org/10.1109/ROBOT.2003.1241942
  12. A. Shapiro, E. Rimon, and J. Burdick, 'On the mechanics of natural compliance in frictional contacts and its effect on grasp stiffness and stability,' Proc. of the 2004 IEEE Int. Con. on Robotics & Automation, 2004 https://doi.org/10.1109/ROBOT.2004.1307998
  13. A. Sudsang and T. Phoka, 'Geometric reformulation of 3-fingered force-closure condition,' Proc. of the 2005 IEEE Int. Conf. On Robotics and Automation, 2005
  14. J. K. Salisbury and B. Roth, 'Kinematic and force analysis of articulated mechanical Hands,' ASME J. Mech. Design, vol. 82-DET-13, 1982
  15. V-D. Nguyen, 'Constructing force-closure grasps.' International Journal of Robotics Research, (3):3-16, June 1988 https://doi.org/10.1177/027836498800700301
  16. J. Ponce and B. Faverjon, 'On computing three-finger force-closure grasps of polygonal objects.' IEEE Transactions on Robotics and Automation, 11(6):868-881, December 1995 https://doi.org/10.1109/70.478433

Cited by

  1. Grasp stability analysis based on acceleration convex polytopes for multi-fingered robot hands vol.7, pp.2, 2009, https://doi.org/10.1007/s12555-009-0211-y