Jian S Dai 1† and David R Kerr2
of Mechanical Engineering
School of Physical Sciences and Engineering
King's College London
Strand, London WC2R 2LS, UK
Tel: +44 (0) 20 7848 2321, Fax: +44 (0) 20 7848 2932
Institute for Design, Manufacturing and Marketing
University of Salford, Salford M5 4WT, UK
FREE ABSTRACT (to read the full article, please log in below).
This paper introduces a restraint
synthesis approach, develops algorithms for analysis and diagnosis of grasps
and presents a computation environment to integrate the algorithms for
robotic grasping. Using the algorithms, the grasp matrix and the restraint
equation are augmented with contact properties of a grasp, the object is
mapped into a screw image space and the grasp is synthesised based on an
n-simplex formed by contact wrenches of the grasp. The computation environment
is developed to implement these algorithms and is further integrated with
a contact system of three six-element force transducers. The structure
of this software environment and its multiple user-friendly layers are
introduced and the integrated software environment is demonstrated in a
three-fingered cylindrical object grasp.
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© Copyright 2002 Professor F.R. Hall - University of Wolverhampton.