Metrics for analysis and optimization of grasps and fixtures

Thomas Sugar, V. Kumar

Research output: Contribution to journalArticle

3 Scopus citations

Abstract

We develop two quality measures for the analysis and optimization of grasps and fixtures. The first metric is a measure of stability and is obtained by analyzing the effect of small perturbations in the position of the grasped object or small disturbance forces on the grasped object. The second metric is a measure of robustness to errors in the positions of the fixture elements. In addition, we explore the effect that the stiffness of the fixture elements has on these two quality measures and propose a design optimization approach to maximize stability and robustness to errors.

Original languageEnglish (US)
Pages (from-to)28-37
Number of pages10
JournalInternational Journal of Robotics Research
Volume17
Issue number1
StatePublished - Dec 1 1998

Keywords

  • Grasp Metric
  • Softness
  • Stability

ASJC Scopus subject areas

  • Software
  • Modeling and Simulation
  • Mechanical Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Applied Mathematics

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