TY - JOUR

T1 - Optimization of Robot Grasping Forces and Worst Case Loading

AU - Elmackias, Or

AU - Zaretzky, Tami

AU - Segev, Reuven

PY - 2020/10/1

Y1 - 2020/10/1

N2 - We consider the optimization of the vector of grasping forces that
support a known generalized force acting on the grasped object---a rigid
body or a mechanism. Working in the framework of finite-dimensional
normed vector spaces and their dual spaces, the cost function to be
minimized is assumed to be a norm on the space of grasping forces. We
present an expression for the optimum which depends on the external
force and the kinematics of the grasping system. Next, assuming that
optimal grasping forces are applied using force control, and assuming
that there is a bound on the norm of the admissible grasping forces, we
characterize the largest norm of an external force that the grasping
system may support, that is, the norm of the worst-case loading that may
be applied and still be supported. A few simple examples are given for
the sake of illustration.

AB - We consider the optimization of the vector of grasping forces that
support a known generalized force acting on the grasped object---a rigid
body or a mechanism. Working in the framework of finite-dimensional
normed vector spaces and their dual spaces, the cost function to be
minimized is assumed to be a norm on the space of grasping forces. We
present an expression for the optimum which depends on the external
force and the kinematics of the grasping system. Next, assuming that
optimal grasping forces are applied using force control, and assuming
that there is a bound on the norm of the admissible grasping forces, we
characterize the largest norm of an external force that the grasping
system may support, that is, the norm of the worst-case loading that may
be applied and still be supported. A few simple examples are given for
the sake of illustration.

KW - Computer Science - Robotics

KW - 70E60

KW - 74P10

KW - 46N10

U2 - https://doi.org/10.1016/j.apples.2021.100045

DO - https://doi.org/10.1016/j.apples.2021.100045

M3 - מאמר

SN - 2666-4968

JO - Applications in Engineering Science

JF - Applications in Engineering Science

ER -