A Computation Environment For Restraint Analysis and Synthesis
in Robotic Grasping

Jian S Dai 1†         and        David R Kerr2

1†Department 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
Email: Jian.Dai@KCL.ac.uk

2Research Institute for Design, Manufacturing and Marketing
University of Salford, Salford M5 4WT, UK

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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.