This paper discusses the planning of grasp configurations for three-fingered tip-prehension grasps. Geometric reasoning is incorporated into the selection process so that the task requirements, together with constraints on compatibility between the task's and the object's geometry, can be used to find feasible grasp configurations. A classification of objects is made, whereby they are divided into groups based on their geometric characteristics. Task requirements are then used for developing selection rules for each group of objects. In addition, methods for reaching a grasp in the existence of uncertainty are suggested.
|Original language||English (US)|
|Number of pages||15|
|Journal||International Journal of Machine Tool Design and Research|
|State||Published - Dec 1 1988|
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