On Computing Reliable Optimal Grasping ForcesEI
IEEE Transactions on Robotics, pp. 619-633, 2012.
Keywords:ForceFrictionGraspingOptimizationVectorsview more (2+)
This paper presents algorithms for optimal grasping forces. The previous work reveals that contact forces with minimal sum or maximum of normal force components can be written as positive combinations of primitive contact forces, to which the corresponding primitive contact wrenches express the required resultant wrench as their positive ...More