| On Computing Optimal Planar Grasps (1995) | |||||||||||||||
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| The quality of a grasp can often be measured as the magnitude within which any external wrench is resistible by "unit grasp force". In this paper, we present a numerical algorithm to compute the optimal grasp on a simple polygon, given contact forces of unit total magnitude. Forces are compared with torques over the radius of gyration of the polygon. We also address a grasp optimality criterion for resisting an adversary finger located possibly anywhere on the polygon boundary. The disparity between these two grasp optimality criteria are demonstrated by simulation with results advocating that grasps should be measured taskdependently. The paper assumes non-frictional contacts. 1 Introduction In this paper, we are concerned with finding the optimal grasps on planar shapes, particularly polygons, under two different grasp metrics. The first metric, called Mw , measures the quality of a grasp by the magnitude of the minimum, over all directions, of the maximum wrench resistible by the... | |||||||||||||||
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