An Automatic Approach To Multi-fingered Grasping For Planar Ordinary Contour Objects

In this paper, an automated planning approach for multi-fingered grasp is presented, which is suited to dexterous hand with four fingers, and the object has ordinary planar contour. The main work in this study is to establish mathematical model of multi-fingered grasp and to realize that the grasp automated planning is to determine the contact point position of the fingers in the geometry contour of grasped object. First, establish mathematical model. It is the basic problem that to calculate the contact point position and to determine the position functions among four contact point of dexterous hand. It is also an algorithm that to realize that the grasp automated planning. The function of contact point position of finger, and the retlated function among four fingers position are established. It is basic mathematical equations to evaluate the grap plan for four fingers dexterous hands. Then the relationship between the configuration of instance rotation center triangle and the type of grasped edge must be analyzed, and the keeping methods of consistency for the configuration change of instance rotation center triangle are established. The approach to grasping planning for ordinary contour object can be established. Lastly, the program is writed base on established mathematical model of this paper. A prototype system is developed with Visual C++ 6.0, and some samples prove the planning approach and established mathematical model involved in this paper.