@article{(Open Science Index):https://publications.waset.org/pdf/17249,
	  title     = {On the Computation of a Common n-finger Robotic Grasp for a Set of Objects},
	  author    = {Avishai Sintov and  Roland Menassa and  Amir Shapiro},
	  country	= {},
	  institution	= {},
	  abstract     = {Industrial robotic arms utilize multiple end-effectors, each for a specific part and for a specific task. We propose a novel algorithm which will define a single end-effector’s configuration able to grasp a given set of objects with different geometries. The algorithm will have great benefit in production lines allowing a single robot to grasp various parts. Hence, reducing the number of endeffectors needed. Moreover, the algorithm will reduce end-effector design and manufacturing time and final product cost. The algorithm searches for a common grasp over the set of objects. The search algorithm maps all possible grasps for each object which satisfy a quality criterion and takes into account possible external wrenches (forces and torques) applied to the object. The mapped grasps are- represented by high-dimensional feature vectors which describes the shape of the gripper. We generate a database of all possible grasps for each object in the feature space. Then we use a search and
classification algorithm for intersecting all possible grasps over all
parts and finding a single common grasp suitable for all objects.
We present simulations of planar and spatial objects to validate the
feasibility of the approach.
},
	    journal   = {International Journal of Mechanical and Mechatronics Engineering},
	  volume    = {7},
	  number    = {11},
	  year      = {2013},
	  pages     = {2139 - 2145},
	  ee        = {https://publications.waset.org/pdf/17249},
	  url   	= {https://publications.waset.org/vol/83},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 83, 2013},
	}