OPTIMIZATION OF MULTIFINGERED GRASPING FORCES BASED ON THE OBJECT WITH ELASTICITY

The normal and tangent contact stain formulation between the fingers and the grasped object is derived by elasticity mechanics principle, and the limited conditions for the contact forces also are presented in a grasp system, we consider the static indeterminant problem as a quadratic programming with linear constrains, which is solved by conjugate gradient. Finally, two examples demonstrate its effectiveness and applicability.