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Recognition of Force Closed Point Grasp for 2D Object

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CAD/CAM, Robotics and Factories of the Future

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

Abstract

Robotic grasping of an object requires positioning the fingers of the robotic hand around the object in such a manner that the forces applied by the fingers on the object can create a force as well as moment equilibrium (Realeaux 1876) and keep the object stable within the grasp. Research on robotic grasping is relevant too (Tovar and Suarez 2014). Recognizing a grasp of an object by a robotic gripper requires a definition of the grasp. In this paper we have compared different definitions of robotic grasp proposed by different researchers and we have proposed our definition of grasp and an algorithmic approach to execute the definition. The results obtained show the promising prospect of the approach.

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Author information

Authors and Affiliations

  1. CMERI, Durgapur, India

    Abhijit Das

  2. Department of Mechanical Engineering, IIT Kharagpur, Kharagpur, India

    Sankha Deb

Authors
  1. Abhijit Das
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  2. Sankha Deb
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Correspondence to Abhijit Das .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, College of Engineering and Management, Kolaghat, West Bengal, India

    Dipak Kumar Mandal

  2. Department of Mechanical and Manufacturing Engineering, The University of the West Indies, St. Augustine, Trinidad and Tobago

    Chanan Singh Syan

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© 2016 Springer-Verlag Berlin Heidelberg

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Das, A., Deb, S. (2016). Recognition of Force Closed Point Grasp for 2D Object. In: Mandal, D.K., Syan, C.S. (eds) CAD/CAM, Robotics and Factories of the Future. Lecture Notes in Mechanical Engineering. Springer, New Delhi. https://doi.org/10.1007/978-81-322-2740-3_34

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  • DOI: https://doi.org/10.1007/978-81-322-2740-3_34

  • Publisher Name: Springer, New Delhi

  • Print ISBN: 978-81-322-2738-0

  • Online ISBN: 978-81-322-2740-3

  • eBook Packages: EngineeringEngineering (R0)

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