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Autonomous Robots
Erschienen in: Autonomous Robots 1/2017

28.12.2015

An analysis of grasp quality measures for the application of sheet metal parts grasping

verfasst von: Avishai Sintov, Amir Shapiro

Erschienen in: Autonomous Robots | Ausgabe 1/2017

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Abstract

Acquiring a qualitative force-closure grasp requires the determination of feasible contact points on the object based on a defined criterion. The determination must be fast in order to implement feasible synthesis algorithms. Moreover, grasping of sheet metal parts has further requirements derived from its geometry and clamping tools. This paper presents a grasp quality analysis for the application of sheet metal parts. Moreover, a novel grasp quality measure approach is proposed based on standard deviation computation of the contact’s coordinates. The proposed measure is frame invariant, simple to implement, and has low computational complexity. A comparative analysis over other measures is presented. Further, a stress analysis was performed to show that the proposed criterion yields low stress on the sheet metal part compared to other criteria. Simulations show advantage to grasp synthesis with the proposed quality measure.
Vorheriger Artikel Selective visual odometry for accurate AUV localization
Nächster Artikel Active target search for high dimensional robotic systems

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Metadaten
Titel
An analysis of grasp quality measures for the application of sheet metal parts grasping
verfasst von
Avishai Sintov
Amir Shapiro
Publikationsdatum
28.12.2015
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 1/2017
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-015-9535-z

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