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 language | English (US) |
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| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 3561-3566 |
| Number of pages | 6 |
| Volume | 4 |
| State | Published - 2000 |
| Event | ICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA Duration: Apr 24 2000 → Apr 28 2000 |
Other
| Other | ICRA 2000: IEEE International Conference on Robotics and Automation |
|---|---|
| City | San Francisco, CA, USA |
| Period | 4/24/00 → 4/28/00 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering