Grasping force optimization using dual methods

Jordi Cornella, Raul Suarez, Raffaella Carloni, Claudio Melchiorri

    Research output: Contribution to conferencePaper

    1 Citation (Scopus)

    Abstract

    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.
    Original languageUndefined
    Number of pages6
    DOIs
    Publication statusPublished - Sep 2006
    Event8th International IFAC Symposium on Robot Control, SYROCO 2006 - Bologna, Italy
    Duration: 6 Sep 20068 Sep 2006
    Conference number: 8

    Conference

    Conference8th International IFAC Symposium on Robot Control, SYROCO 2006
    Abbreviated titleSYROCO
    CountryItaly
    CityBologna
    Period6/09/068/09/06

    Keywords

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

    Cite this

    Cornella, J., Suarez, R., Carloni, R., & Melchiorri, C. (2006). 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
    Cornella, Jordi ; Suarez, Raul ; Carloni, Raffaella ; Melchiorri, Claudio. / Grasping force optimization using dual methods. Paper presented at 8th International IFAC Symposium on Robot Control, SYROCO 2006, Bologna, Italy.6 p.
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    abstract = "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.",
    keywords = "IR-77500, EWI-20226, optimal grasping forces, force distribution problem, Mathematical Programming, Dexterous manipulation, CE-Advanced Robotics",
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    Cornella, J, Suarez, R, Carloni, R & Melchiorri, C 2006, 'Grasping force optimization using dual methods' Paper presented at 8th International IFAC Symposium on Robot Control, SYROCO 2006, Bologna, Italy, 6/09/06 - 8/09/06, . https://doi.org/10.3182/20060906-3-IT-2910.00105

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

    2006. Paper presented at 8th International IFAC Symposium on Robot Control, SYROCO 2006, Bologna, Italy.

    Research output: Contribution to conferencePaper

    TY - CONF

    T1 - Grasping force optimization using dual methods

    AU - Cornella, Jordi

    AU - Suarez, Raul

    AU - Carloni, Raffaella

    AU - Melchiorri, Claudio

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    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

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