%0 Journal Article
	%A Avishai Sintov and  Roland Menassa and  Amir Shapiro
	%D 2013
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 83, 2013
	%T On the Computation of a Common n-finger Robotic Grasp for a Set of Objects
	%U https://publications.waset.org/pdf/17249
	%V 83
	%X 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.

	%P 2139 - 2145