Mathematical Studying in Control of Grasping

Eman Mirzaieepoor; Mohammad Sadegh Hassanli; Pezhman Moradi; Mohammad Mehdi Khoddami

doi:doi:10.11648/j.ijsqa.20160201.11

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Mathematical Studying in Control of Grasping

Eman Mirzaieepoor, Mohammad Sadegh Hassanli, Pezhman Moradi, Mohammad Mehdi Khoddami

Published in International Journal of Science and Qualitative Analysis (Volume 2, Issue 1)

Received: 15 March 2016 Accepted: 3 June 2016 Published: 5 July 2016

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Abstract

The main purpose of developing of mechanical hands is to give robots the knack in order to grasp objects of varying geometric and physical properties. The complete model is a coupling of models which describe contact behavior with generally using the models of rigid-body kinematics and dynamics. The contact model fundamentally come down to the choice of components of contact force and moment which are transmitted through each contact. Mathematical properties of the complete model obviously bring about two primary grasp types whose physical interpretations provide insight for grasping and manipulation planning. A grasp with complete restraint avoids loss of contact and therefore is so secure. As will be mentioned, two primary limitation properties are force closure and form closure. A form closure grasp assurances the maintenance of contact as long as the links of the hand and the proposed object are also well verged on as rigid and as long as the joint actuators are sturdy enough. It should be noted that the main difference between force closure and also form closure grasps is the latter’s reliance on contact friction.

Published in	International Journal of Science and Qualitative Analysis (Volume 2, Issue 1)
DOI	10.11648/j.ijsqa.20160201.11
Page(s)	1-13
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2016. Published by Science Publishing Group

Keywords

Computational Linear algebra, Linear Kinematic, Linear Dynamic, Grasping, Rigid-body Models, Form Closure

References

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Eman Mirzaieepoor, Mohammad Sadegh Hassanli, Pezhman Moradi, Mohammad Mehdi Khoddami. (2016). Mathematical Studying in Control of Grasping. International Journal of Science and Qualitative Analysis, 2(1), 1-13. https://doi.org/10.11648/j.ijsqa.20160201.11

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Eman Mirzaieepoor; Mohammad Sadegh Hassanli; Pezhman Moradi; Mohammad Mehdi Khoddami. Mathematical Studying in Control of Grasping. Int. J. Sci. Qual. Anal. 2016, 2(1), 1-13. doi: 10.11648/j.ijsqa.20160201.11

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AMA Style

Eman Mirzaieepoor, Mohammad Sadegh Hassanli, Pezhman Moradi, Mohammad Mehdi Khoddami. Mathematical Studying in Control of Grasping. Int J Sci Qual Anal. 2016;2(1):1-13. doi: 10.11648/j.ijsqa.20160201.11

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@article{10.11648/j.ijsqa.20160201.11,
  author = {Eman Mirzaieepoor and Mohammad Sadegh Hassanli and Pezhman Moradi and Mohammad Mehdi Khoddami},
  title = {Mathematical Studying in Control of Grasping},
  journal = {International Journal of Science and Qualitative Analysis},
  volume = {2},
  number = {1},
  pages = {1-13},
  doi = {10.11648/j.ijsqa.20160201.11},
  url = {https://doi.org/10.11648/j.ijsqa.20160201.11},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ijsqa.20160201.11},
  abstract = {The main purpose of developing of mechanical hands is to give robots the knack in order to grasp objects of varying geometric and physical properties. The complete model is a coupling of models which describe contact behavior with generally using the models of rigid-body kinematics and dynamics. The contact model fundamentally come down to the choice of components of contact force and moment which are transmitted through each contact. Mathematical properties of the complete model obviously bring about two primary grasp types whose physical interpretations provide insight for grasping and manipulation planning. A grasp with complete restraint avoids loss of contact and therefore is so secure. As will be mentioned, two primary limitation properties are force closure and form closure. A form closure grasp assurances the maintenance of contact as long as the links of the hand and the proposed object are also well verged on as rigid and as long as the joint actuators are sturdy enough. It should be noted that the main difference between force closure and also form closure grasps is the latter’s reliance on contact friction.},
 year = {2016}
}

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TY  - JOUR
T1  - Mathematical Studying in Control of Grasping
AU  - Eman Mirzaieepoor
AU  - Mohammad Sadegh Hassanli
AU  - Pezhman Moradi
AU  - Mohammad Mehdi Khoddami
Y1  - 2016/07/05
PY  - 2016
N1  - https://doi.org/10.11648/j.ijsqa.20160201.11
DO  - 10.11648/j.ijsqa.20160201.11
T2  - International Journal of Science and Qualitative Analysis
JF  - International Journal of Science and Qualitative Analysis
JO  - International Journal of Science and Qualitative Analysis
SP  - 1
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PB  - Science Publishing Group
SN  - 2469-8164
UR  - https://doi.org/10.11648/j.ijsqa.20160201.11
AB  - The main purpose of developing of mechanical hands is to give robots the knack in order to grasp objects of varying geometric and physical properties. The complete model is a coupling of models which describe contact behavior with generally using the models of rigid-body kinematics and dynamics. The contact model fundamentally come down to the choice of components of contact force and moment which are transmitted through each contact. Mathematical properties of the complete model obviously bring about two primary grasp types whose physical interpretations provide insight for grasping and manipulation planning. A grasp with complete restraint avoids loss of contact and therefore is so secure. As will be mentioned, two primary limitation properties are force closure and form closure. A form closure grasp assurances the maintenance of contact as long as the links of the hand and the proposed object are also well verged on as rigid and as long as the joint actuators are sturdy enough. It should be noted that the main difference between force closure and also form closure grasps is the latter’s reliance on contact friction.
VL  - 2
IS  - 1
ER  -

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Author Information

Eman Mirzaieepoor

Department of Mechanical Engineering, Amirkabir University, Tehran, Iran
Mohammad Sadegh Hassanli

Department of Exercise Physiology, Jahrom University, Jahrom, Iran
Pezhman Moradi

Department of Mechanical Engineering, Jahrom University, Jahrom, Iran
Mohammad Mehdi Khoddami

Department of Mechanical Engineering, Jahrom University, Jahrom, Iran

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Eman Mirzaieepoor, Mohammad Sadegh Hassanli, Pezhman Moradi, Mohammad Mehdi Khoddami. (2016). Mathematical Studying in Control of Grasping. International Journal of Science and Qualitative Analysis, 2(1), 1-13. https://doi.org/10.11648/j.ijsqa.20160201.11

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Eman Mirzaieepoor; Mohammad Sadegh Hassanli; Pezhman Moradi; Mohammad Mehdi Khoddami. Mathematical Studying in Control of Grasping. Int. J. Sci. Qual. Anal. 2016, 2(1), 1-13. doi: 10.11648/j.ijsqa.20160201.11

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AMA Style

Eman Mirzaieepoor, Mohammad Sadegh Hassanli, Pezhman Moradi, Mohammad Mehdi Khoddami. Mathematical Studying in Control of Grasping. Int J Sci Qual Anal. 2016;2(1):1-13. doi: 10.11648/j.ijsqa.20160201.11

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@article{10.11648/j.ijsqa.20160201.11,
  author = {Eman Mirzaieepoor and Mohammad Sadegh Hassanli and Pezhman Moradi and Mohammad Mehdi Khoddami},
  title = {Mathematical Studying in Control of Grasping},
  journal = {International Journal of Science and Qualitative Analysis},
  volume = {2},
  number = {1},
  pages = {1-13},
  doi = {10.11648/j.ijsqa.20160201.11},
  url = {https://doi.org/10.11648/j.ijsqa.20160201.11},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ijsqa.20160201.11},
  abstract = {The main purpose of developing of mechanical hands is to give robots the knack in order to grasp objects of varying geometric and physical properties. The complete model is a coupling of models which describe contact behavior with generally using the models of rigid-body kinematics and dynamics. The contact model fundamentally come down to the choice of components of contact force and moment which are transmitted through each contact. Mathematical properties of the complete model obviously bring about two primary grasp types whose physical interpretations provide insight for grasping and manipulation planning. A grasp with complete restraint avoids loss of contact and therefore is so secure. As will be mentioned, two primary limitation properties are force closure and form closure. A form closure grasp assurances the maintenance of contact as long as the links of the hand and the proposed object are also well verged on as rigid and as long as the joint actuators are sturdy enough. It should be noted that the main difference between force closure and also form closure grasps is the latter’s reliance on contact friction.},
 year = {2016}
}

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TY  - JOUR
T1  - Mathematical Studying in Control of Grasping
AU  - Eman Mirzaieepoor
AU  - Mohammad Sadegh Hassanli
AU  - Pezhman Moradi
AU  - Mohammad Mehdi Khoddami
Y1  - 2016/07/05
PY  - 2016
N1  - https://doi.org/10.11648/j.ijsqa.20160201.11
DO  - 10.11648/j.ijsqa.20160201.11
T2  - International Journal of Science and Qualitative Analysis
JF  - International Journal of Science and Qualitative Analysis
JO  - International Journal of Science and Qualitative Analysis
SP  - 1
EP  - 13
PB  - Science Publishing Group
SN  - 2469-8164
UR  - https://doi.org/10.11648/j.ijsqa.20160201.11
AB  - The main purpose of developing of mechanical hands is to give robots the knack in order to grasp objects of varying geometric and physical properties. The complete model is a coupling of models which describe contact behavior with generally using the models of rigid-body kinematics and dynamics. The contact model fundamentally come down to the choice of components of contact force and moment which are transmitted through each contact. Mathematical properties of the complete model obviously bring about two primary grasp types whose physical interpretations provide insight for grasping and manipulation planning. A grasp with complete restraint avoids loss of contact and therefore is so secure. As will be mentioned, two primary limitation properties are force closure and form closure. A form closure grasp assurances the maintenance of contact as long as the links of the hand and the proposed object are also well verged on as rigid and as long as the joint actuators are sturdy enough. It should be noted that the main difference between force closure and also form closure grasps is the latter’s reliance on contact friction.
VL  - 2
IS  - 1
ER  -

Copy | Download