This paper discusses the problem of planning of grasping by multifingered robot hand and proposes a method to solve it. The problem is formulated as an optimization task where the Lyapunov stability and the contact stability conditions are introduced using augmented Lagrangian multipliers. An evolutionary programming technique is used to solve the optimization problem. The effectiveness of the method proposed is illustrated on the computer simulation.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Electrical and Electronic Engineering