A force-closure test for soft multi-fingered grasps

DOI10.1007/BF02916873zbMath0914.70003MaRDI QIDQ1129834

Bingran Zuo, Wen-Han Qian

Publication date: 20 August 1998

Published in: Science in China. Series E (Search for Journal in Brave)

zbMATH Keywords

friction constraintscontact force spaceexternal wrench spacemanipulation force spacenecessary and sufficient conditions for force-closure graspsnormal force setstrictly constraint force set

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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On some weaknesses existing in optimal grasp planning

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