Form-closure caging grasps of polygons with a parallel-jaw gripper A kinematic calibration method based on the product of exponentials formula for serial robot using position measurements

摘要

Parallel-jaw gripper finds wide applications in various industrial sectors. In this paper, we mainly focus on the problem of form closure caging grasps of polygons with a parallel-jaw gripper equipped with four fingers. The form closure caging grasp is helpful for the fingers placements and contact region selections of a pneumatic gripper, as it is less sensitive to fingers misplacements.