Metrics for analysis and optimization of grasps and fixtures

Thomas Sugar, Vijay Kumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 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)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3561-3566
Number of pages6
Volume4
StatePublished - 2000
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: Apr 24 2000Apr 28 2000

Other

OtherICRA 2000: IEEE International Conference on Robotics and Automation
CitySan Francisco, CA, USA
Period4/24/004/28/00

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Sugar, T., & Kumar, V. (2000). Metrics for analysis and optimization of grasps and fixtures. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 4, pp. 3561-3566)