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A stiffness-based quality measure for compliant grasps and fixtures

Lin, Qiao and Burdick, Joel W. and Rimon, Elon (2000) A stiffness-based quality measure for compliant grasps and fixtures. IEEE Transactions on Robotics and Automation, 16 (6). pp. 675-688. ISSN 1042-296X.

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This paper presents a systematic approach to quantifying the effectiveness of compliant grasps and fixtures of an object. The approach is physically motivated and applies to the grasping of two- and three-dimensional objects by any number of fingers. The approach is based on a characterization of the frame-invariant features of a grasp or fixture stiffness matrix. In particular, we define a set of frame-invariant characteristic stiffness parameters, and provide physical and geometric interpretation for these parameters. Using a physically meaningful scheme to make the rotational and translational stiffness parameters comparable, we define a frame-invariant quality measure, which we call the stiffness quality measure. An example of a frictional grasp illustrates the effectiveness of the quality measure. We then consider the optimal grasping of frictionless polygonal objects by three and four fingers. Such frictionless grasps are useful in high-load fixturing applications, and their relative simplicity allows an efficient computation of the globally optimal finger arrangement. We compute the optimal finger arrangement in several examples, and use these examples to discuss properties that characterize the stiffness quality measure.

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Additional Information:© 2000 IEEE. Reprinted with permission. Manuscript received February 17, 1998; revised November 24, 1999. This paper was recommended for publication by Associate Editor P. Allen and Editor A. De Luca upon evaluation of the reviewers’ comments. This paper was presented in part at the International Conference on Robotics and Automation, Albuquerque, NM, April 1997.
Subject Keywords:Compliance modeling, configuration space, fixturing, grasping, optimization, stiffness
Issue or Number:6
Record Number:CaltechAUTHORS:LINieeetra00
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:6888
Deposited By: Archive Administrator
Deposited On:30 Dec 2006
Last Modified:02 Oct 2019 23:37

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