CHAPTER A. Appendix
Figure A.2: Finger trajectories evaluated by the local grasp planner (continuous
lines) and the corresponding sequence of grasp points on the reconstructed surface
for the smooth prism (dotted lines).
best grasp configuration remains unchanged at the end of the optimization, or
in the case that all the candidate grasp configurations are discarded during the
process. Moreover, it is worth noticing that also some other testes based on the
kinematics of the hand in the current configuration can be carried out for the
research of the (local) optimum grasp under this proposed grasp quality measure:
for more details see [57].
A.3
Simulations
The proposed quality index has been tested with simulations using synthesized
objects.
The dynamic parameters of the reconstruction ellipsoid have been chosen as
follows: m = 10
-3
kg, k = 0.3 · 10
-3
N/m, b = 0.09 · 10
-3
N s/m, and F
a
= 5 N .
By setting
CEI
= 15
and
EEGI
= 10
, the configuration of the grasp and
the trajectories of the fingers for the first object are those of Fig. A.1. Moreover,
the final configuration of the grasp (which can be proven to be the global optimal
grasp configuration) is characterized by the values CEI = 13
and EEGI = 2.2
.
A prism with smooth lateral corners has also been considered. The configura-
tion of the grasp and the corresponding trajectories are shown in Fig. A.2. The
values CEI = 9.9
and EEGI = 1.04
are obtained in the final configuration.
Remarkably, an equilateral symmetry is achieved for the final grasp: two fingers
62
Summary :
The dynamic parameters of the reconstruction ellipsoid have been chosen as follows: m = 10 -3 kg, k = 0.3 · 10 -3 N/m, b = 0.09 · 10 -3 N s/m, and F a = 5 N . Moreover, the final configuration of the grasp (which can be proven to be the global optimal grasp configuration) is characterized by the values CEI = 13 and EEGI = 2.2 .
Tags :
configuration,final,cei,been,eegi,trajectories,quality,simulations,local,corresponding,fingers,alues,proposed