On Computing Optimal Planar Grasps
Yan-Bin Jia
1995 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abstract
The quality of a grasp can often be measured as the magnitude
within which any external wrench is resistible by ``unit grasp
force''. In this paper, we present a numerical algorithm to compute
the optimal grasp on a simple polygon, given contact forces of unit
total magnitude. Forces are compared with torques over the radius of
gyration of the polygon. We also address a grasp optimality criterion
for resisting an adversary finger located possibly anywhere on the
polygon boundary. The disparity between these two grasp optimality
criteria are demonstrated by simulation with results advocating that
grasps should be measured task-dependently. The paper assumes
non-frictional contacts.