The problem of grasping force optimization for a robotic system equipped with multi-fingered hands is considered in this paper. This problem is cast as a convex optimization problem, considering also joint torque constraints. A solution suitable for on-line implementation is proposed, which allows a substantial reduction of the computational load by dynamically decreasing the number of active torque constraints. Moreover, for the case of a bimanual manipulation system, a sub-optimal single-hand optimization algorithm is presented and compared with the optimal one. The effectiveness of the described methods has been tested in a simulation case study.

A grasping force optimization algorithm for dexterous robotic hands

LIPPIELLO, VINCENZO;SICILIANO, BRUNO;VILLANI, LUIGI
2012

Abstract

The problem of grasping force optimization for a robotic system equipped with multi-fingered hands is considered in this paper. This problem is cast as a convex optimization problem, considering also joint torque constraints. A solution suitable for on-line implementation is proposed, which allows a substantial reduction of the computational load by dynamically decreasing the number of active torque constraints. Moreover, for the case of a bimanual manipulation system, a sub-optimal single-hand optimization algorithm is presented and compared with the optimal one. The effectiveness of the described methods has been tested in a simulation case study.
9781467314039
9781467314046
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/484873
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 11
  • ???jsp.display-item.citation.isi??? 9
social impact