This paper aims to introduce a grasping configuration planning method suitable for grippers featuring three individually controllable fingers. This approach can effectively improve the stability of grasping for objects of various shapes.
Inspired by the Fermat point in geometric triangles, this paper establishes two planning objectives: minimizing the distance from the palm axis to the object’s center of mass and maximizing the displacement of the three fingers. Based on these objectives, this paper proposes specific steps for the grasping configuration planning method. In addition, by considering the effect of gravity on grasping, this paper analyzes the trends in contact point frictions under different planning objectives. The position of the palm axis is further determined by identifying the configuration that maximizes static friction.
Simulation and experiment results demonstrate the feasibility of applying the grasp configuration planning method to specific grippers, which can improve both the success rate and stability compared to manual grasping.
This paper proposes a new grasping configuration planning method based on the Fermat point principle, which is introduced step by step with a focus on two planning objectives and considers the effect of friction changes on grasping under the influence of gravity.
