An Algorithm for Computing Grasp Force in Power Grasp: Consideration of Errors in Elastic Contact Model

摘要

The grasp force in power grasp can be computed uniquely if the contacts are elastic and their stiffness values are known. However if they are unknown or uncertain, such computation is impossible. A realistic assumption is that the range of the contact stiffness is known. This paper shows that the ratio of the friction force to the normal force at each contact is maximum when each stiffness parameter is either minimum or maximum. Therefore, it is enough to compute the grasp force only for combinations of the maximum or minimum values of the stiffness parameters.