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Authors
Raul Suarez; Gerrit Farber

Identifier
10.3182/20060906-3-IT-2910.00103

Index Terms
robot hands,grasping and manipulation

Abstract
Determining the grasp optimal configuration of a mechanical hand is a computational hard work, mainly due to the large number of degrees of freedom (fingers and wrist) and possible solutions, and to the constraints imposed by the object. The paper presents an approach to reduce this problem under certain conditions. The configurations of the hand to grasp rectangular parallelepipeds of different sizes are determined off-line using an optimality criterion. The wrist positions of these configurations are approximated with functions of the size of the object "inside" the hand. These functions are stored to be used for a fast on-line computation of a real grasp configuration. The approach has been implemented and numerical examples are presented.

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