### Abstract

Original language | Undefined |
---|---|

Number of pages | 6 |

DOIs | |

Publication status | Published - Sep 2006 |

Event | 8th International IFAC Symposium on Robot Control, SYROCO 2006 - Bologna, Italy Duration: 6 Sep 2006 → 8 Sep 2006 Conference number: 8 |

### Conference

Conference | 8th International IFAC Symposium on Robot Control, SYROCO 2006 |
---|---|

Abbreviated title | SYROCO |

Country | Italy |

City | Bologna |

Period | 6/09/06 → 8/09/06 |

### Keywords

- IR-77500
- EWI-20226
- optimal grasping forces
- force distribution problem
- Mathematical Programming
- Dexterous manipulation
- CE-Advanced Robotics

### Cite this

*Grasping force optimization using dual methods*. Paper presented at 8th International IFAC Symposium on Robot Control, SYROCO 2006, Bologna, Italy. https://doi.org/10.3182/20060906-3-IT-2910.00105

}

**Grasping force optimization using dual methods.** / Cornella, Jordi; Suarez, Raul; Carloni, Raffaella; Melchiorri, Claudio.

Research output: Contribution to conference › Paper

TY - CONF

T1 - Grasping force optimization using dual methods

AU - Cornella, Jordi

AU - Suarez, Raul

AU - Carloni, Raffaella

AU - Melchiorri, Claudio

PY - 2006/9

Y1 - 2006/9

N2 - One of the basic requirements in grasping and manipulation of objects is the determination of a suitable set of grasping forces such that the external forces and torques applied on the object are balanced and the object remains in equilibrium. This paper presents a new mathematical approach to efficiently obtain the optimal solution of this problem using the dual theorem of non-linear programming. The problem is modeled such that the basic convexity property necessary to apply the dual theorem is satisfied and, then, it is transformed into another one much easier to be solved. Three examples showing the efficiency and accuracy of the proposed methodology are included in the paper.

AB - One of the basic requirements in grasping and manipulation of objects is the determination of a suitable set of grasping forces such that the external forces and torques applied on the object are balanced and the object remains in equilibrium. This paper presents a new mathematical approach to efficiently obtain the optimal solution of this problem using the dual theorem of non-linear programming. The problem is modeled such that the basic convexity property necessary to apply the dual theorem is satisfied and, then, it is transformed into another one much easier to be solved. Three examples showing the efficiency and accuracy of the proposed methodology are included in the paper.

KW - IR-77500

KW - EWI-20226

KW - optimal grasping forces

KW - force distribution problem

KW - Mathematical Programming

KW - Dexterous manipulation

KW - CE-Advanced Robotics

U2 - 10.3182/20060906-3-IT-2910.00105

DO - 10.3182/20060906-3-IT-2910.00105

M3 - Paper

ER -