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Erschienen in:
Introduction Kapitel lesen Erstes Kapitel lesen

2008 | OriginalPaper | Buchkapitel

28. Grasping

verfasst von : Domenico Prattichizzo, Prof, Jeffrey C. Trinkle, Prof

Erschienen in: Springer Handbook of Robotics

Verlag: Springer Berlin Heidelberg

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Abstract

This chapter introduces fundamental models of grasp analysis. The overall model is a coupling of models that define contact behavior with widely used models of rigid-body kinematics and dynamics. The contact model essentially boils down to the selection of components of contact force and moment that are transmitted through each contact. Mathematical properties of the complete model naturally give rise to five primary grasp types whose physical interpretations provide insight for grasp and manipulation planning.
After introducing the basic model and types of grasps, this chapter focuses on the most important grasp characteristic: complete restraint. A grasp with complete restraint prevents loss of contact and thus is very secure. Two primary restraint properties are form closure and force closure. A form closure grasp guarantees maintenance of contact as long as the links of the hand and the object are well approximated as rigid and as long as the joint actuators are sufficiently strong. As will be seen, the primary difference between form closure and force closure grasps is the latterʼs reliance on contact friction. This translates into
requiring fewer contacts to achieve force closure than form closure.

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Vorheriges Kapitel Contact Modeling and Manipulation
Nächstes Kapitel Cooperative Manipulators
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Metadaten
Titel
Grasping
verfasst von
Domenico Prattichizzo, Prof
Jeffrey C. Trinkle, Prof
Copyright-Jahr
2008
Buch
Springer Handbook of Robotics

Print ISBN: 978-3-540-23957-4

Electronic ISBN: 978-3-540-30301-5

Copyright-Jahr: 2008

DOI
https://doi.org/10.1007/978-3-540-30301-5_29

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