The main purpose of developing of mechanical hands is to give robots the knack in order to grasp objects of varying geometric and physical properties. The complete model is a coupling of models which describe contact behavior with generally using the models of rigid-body kinematics and dynamics. The contact model fundamentally come down to the choice of components of contact force and moment which are transmitted through each contact. Mathematical properties of the complete model obviously bring about two primary grasp types whose physical interpretations provide insight for grasping and manipulation planning. A grasp with complete restraint avoids loss of contact and therefore is so secure. As will be mentioned, two primary limitation properties are force closure and form closure. A form closure grasp assurances the maintenance of contact as long as the links of the hand and the proposed object are also well verged on as rigid and as long as the joint actuators are sturdy enough. It should be noted that the main difference between force closure and also form closure grasps is the latter’s reliance on contact friction.
| Published in | International Journal of Science and Qualitative Analysis (Volume 2, Issue 1) |
| DOI | 10.11648/j.ijsqa.20160201.11 |
| Page(s) | 1-13 |
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This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited. |
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Copyright © The Author(s), 2024. Published by Science Publishing Group |
Computational Linear algebra, Linear Kinematic, Linear Dynamic, Grasping, Rigid-body Models, Form Closure
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APA Style
Eman Mirzaieepoor, Mohammad Sadegh Hassanli, Pezhman Moradi, Mohammad Mehdi Khoddami. (2016). Mathematical Studying in Control of Grasping. International Journal of Science and Qualitative Analysis, 2(1), 1-13. https://doi.org/10.11648/j.ijsqa.20160201.11
ACS Style
Eman Mirzaieepoor; Mohammad Sadegh Hassanli; Pezhman Moradi; Mohammad Mehdi Khoddami. Mathematical Studying in Control of Grasping. Int. J. Sci. Qual. Anal. 2016, 2(1), 1-13. doi: 10.11648/j.ijsqa.20160201.11
AMA Style
Eman Mirzaieepoor, Mohammad Sadegh Hassanli, Pezhman Moradi, Mohammad Mehdi Khoddami. Mathematical Studying in Control of Grasping. Int J Sci Qual Anal. 2016;2(1):1-13. doi: 10.11648/j.ijsqa.20160201.11
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Download@article{10.11648/j.ijsqa.20160201.11,
author = {Eman Mirzaieepoor and Mohammad Sadegh Hassanli and Pezhman Moradi and Mohammad Mehdi Khoddami},
title = {Mathematical Studying in Control of Grasping},
journal = {International Journal of Science and Qualitative Analysis},
volume = {2},
number = {1},
pages = {1-13},
doi = {10.11648/j.ijsqa.20160201.11},
url = {https://doi.org/10.11648/j.ijsqa.20160201.11},
eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ijsqa.20160201.11},
abstract = {The main purpose of developing of mechanical hands is to give robots the knack in order to grasp objects of varying geometric and physical properties. The complete model is a coupling of models which describe contact behavior with generally using the models of rigid-body kinematics and dynamics. The contact model fundamentally come down to the choice of components of contact force and moment which are transmitted through each contact. Mathematical properties of the complete model obviously bring about two primary grasp types whose physical interpretations provide insight for grasping and manipulation planning. A grasp with complete restraint avoids loss of contact and therefore is so secure. As will be mentioned, two primary limitation properties are force closure and form closure. A form closure grasp assurances the maintenance of contact as long as the links of the hand and the proposed object are also well verged on as rigid and as long as the joint actuators are sturdy enough. It should be noted that the main difference between force closure and also form closure grasps is the latter’s reliance on contact friction.},
year = {2016}
}
TY - JOUR T1 - Mathematical Studying in Control of Grasping AU - Eman Mirzaieepoor AU - Mohammad Sadegh Hassanli AU - Pezhman Moradi AU - Mohammad Mehdi Khoddami Y1 - 2016/07/05 PY - 2016 N1 - https://doi.org/10.11648/j.ijsqa.20160201.11 DO - 10.11648/j.ijsqa.20160201.11 T2 - International Journal of Science and Qualitative Analysis JF - International Journal of Science and Qualitative Analysis JO - International Journal of Science and Qualitative Analysis SP - 1 EP - 13 PB - Science Publishing Group SN - 2469-8164 UR - https://doi.org/10.11648/j.ijsqa.20160201.11 AB - The main purpose of developing of mechanical hands is to give robots the knack in order to grasp objects of varying geometric and physical properties. The complete model is a coupling of models which describe contact behavior with generally using the models of rigid-body kinematics and dynamics. The contact model fundamentally come down to the choice of components of contact force and moment which are transmitted through each contact. Mathematical properties of the complete model obviously bring about two primary grasp types whose physical interpretations provide insight for grasping and manipulation planning. A grasp with complete restraint avoids loss of contact and therefore is so secure. As will be mentioned, two primary limitation properties are force closure and form closure. A form closure grasp assurances the maintenance of contact as long as the links of the hand and the proposed object are also well verged on as rigid and as long as the joint actuators are sturdy enough. It should be noted that the main difference between force closure and also form closure grasps is the latter’s reliance on contact friction. VL - 2 IS - 1 ER -
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