Positive Span of Force and Torque Components in Three-Dimensional Four-Finger Force-Closure Grasps

Authors: Niparnan, Nattee¹; Sudsang, Attawith²; Chongstitvatana, Prabhas¹

Source: Advanced Robotics, Volume 22, Numbers 13-14, 2008 , pp. 1497-1520(24)

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Abstract:

Testing whether a given grasp achieves force closure is a fundamental problem in grasping. Unfortunately, most of the force-closure testing methods avoid dealing with the true quadratic friction cones by resorting to some linear approximation which unavoidably sacrifices completeness and accuracy. This paper presents a method, considering the true nonlinear friction cone, that can be used as a filter that quickly rejects non-force-closure grasps. The method is based on a necessary condition stating that a force-closure grasp must be able to generate wrenches that positively span the force space and the torque space separately. The geometric relationship between the friction cones and the corresponding force space and torque space is analyzed to help construct an efficient test of the condition. Due to the superior speed of the test over a complete method, the overall performance improvement is paramount. In our experiment, a speed-up factor of 20 or greater can be achieved when testing a large number of grasps on various test objects.

Keywords: GRASPING; POSITIVE SPAN; GRASP HEURISTIC

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855308X360596

Affiliations: 1: Department of Computer Engineering, Faculty of Engineering, Chulalongkorn University, Bangkok 10330, Thailand 2: Department of Computer Engineering, Faculty of Engineering, Chulalongkorn University, Bangkok 10330, Thailand;, Email: attawith@gmail.com

Publication date: 2008-09-01