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Minimum-deflection grasps and fixtures

Lin, Qiao and Burdick, Joel and Rimon, Elon (1998) Minimum-deflection grasps and fixtures. In: Proceedings of 1998 IEEE International Conference on Robotics and Automation. Vol.4. IEEE , Piscataway, NJ, pp. 3322-3328. ISBN 0-7803-4300-X. https://resolver.caltech.edu/CaltechAUTHORS:20190621-161415127

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Abstract

This paper presents an approach to planning compliant grasps and fixtures in which the object exhibits minimal deflection under external disturbances. The approach, which applies to general two- and three-dimensional grasps and fixtures represented by any quasi-rigid compliance model, employs a quality measure that characterises the grasped or fixtured object's worst-case deflection caused by disturbing wrenches lying in the unit wrench ball. To ensure well-defined notions of deflection and wrench balls, frame-invariant rigid body velocity and wrench norms are used. As illustrated by its application to fixtures of polygonal objects, our minimum-deflection approach can be effectively applied to planning grasps and fixtures where deflection significantly influences performance.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.1998.680951DOIArticle
Additional Information:© 1998 IEEE. This work was supported by the National Science Foundation under grant number IRI-9503835.
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Funding AgencyGrant Number
NSFIRI-9503835
Record Number:CaltechAUTHORS:20190621-161415127
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190621-161415127
Official Citation:Qiao Lin, J. Burdick and E. Rimon, "Minimum-deflection grasps and fixtures," Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), Leuven, Belgium, 1998, pp. 3322-3328 vol.4. doi: 10.1109/ROBOT.1998.680951
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96645
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:22 Jun 2019 18:16
Last Modified:03 Oct 2019 21:24

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