Robotics Research Technical Report (Classic Reprint): Finding Effective Force-Targets for Two-Dimensional Multifinger Frictional Grips: Finding ... Frictional Grips (Classic Reprint) - Softcover

Inhaltsangabe

Finding Effective Force-Targets for Two-Dimensional Multifinger Frictional Grips offers practical methods to compute grip forces for stable object manipulation.

This nonfiction work examines how a robot hand with several force-sensing fingers can determine target forces to apply while moving a grasped object. It explains a plan that treats fingers as points in the plane, accounts for friction both in the contact and along the grip, and uses a model that keeps inertial effects negligible. Readers will see how to choose contacting points, define friction cones, and express zero-force conditions as convex combinations to obtain feasible force targets.

- Learn how friction cones constrain finger forces and how to set targets that prevent slip.
- Understand how to derive force targets from external force goals or measurements taken by the fingers themselves.
- See how algorithms can compute the smallest necessary friction coefficient and corresponding finger forces for stable grasps.
- Explore variants that consider many fingers and even how to choose good gripping positions from object geometry.

Ideal for engineers and researchers interested in robotic manipulation, grasp planning, and force control.

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