Abstract: This research characterizes
grasping by multifingered robot hands through investigation of
the space of contact forces into four subspaces, a method is
developed to determine the dimensions of the subspaces with
respect to the connectivity of the object. The relationship
reveals the differences between three types of grasps classified
and indicates how the contact force can be decomposed
corresponding to each type of grasp. The subspaces and the
determination of their dimensions are illustrated by examples.
Key words:
Robot hand Classifying grasp
Contact force
Manuscript received on April
17, 1996
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