Optimization of robot gripping forces and worst case loading

We consider the optimization of the vector of gripping forces that support a known generalized force acting on the gripped object—a rigid body or a mechanism. Working in the framework of finite dimensional normed vector spaces and their dual spaces, the cost function to be minimized is assumed to be...

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Autores principales:	Or Elmackias, Tami Zaretzky, Reuven Segev
Formato:	article
Lenguaje:	EN
Publicado:	Elsevier 2021
Materias:	70E60 74P10 46N10 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/013164a1f4394cbd845c964e8d9cdfb1
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id	oai:doaj.org-article:013164a1f4394cbd845c964e8d9cdfb1
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spelling	oai:doaj.org-article:013164a1f4394cbd845c964e8d9cdfb12021-12-01T05:06:02ZOptimization of robot gripping forces and worst case loading2666-496810.1016/j.apples.2021.100045https://doaj.org/article/013164a1f4394cbd845c964e8d9cdfb12021-09-01T00:00:00Zhttp://www.sciencedirect.com/science/article/pii/S266649682100011Xhttps://doaj.org/toc/2666-4968We consider the optimization of the vector of gripping forces that support a known generalized force acting on the gripped object—a rigid body or a mechanism. Working in the framework of finite dimensional normed vector spaces and their dual spaces, the cost function to be minimized is assumed to be a norm on the space of gripping forces. We present an expression for the optimum which depends on the external force and the kinematics of the gripping system. Next, assuming that optimal gripping forces are applied using force control, and assuming that there is a bound on the norm of the admissible gripping forces, we characterize the largest norm of an external force that the gripping system may support, that is, the norm of the worst case loading that may be applied and still be supported. A few simple examples are given for the sake of illustration.Or ElmackiasTami ZaretzkyReuven SegevElsevierarticle70E6074P1046N10Engineering (General). Civil engineering (General)TA1-2040ENApplications in Engineering Science, Vol 7, Iss , Pp 100045- (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	70E60 74P10 46N10 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	70E60 74P10 46N10 Engineering (General). Civil engineering (General) TA1-2040 Or Elmackias Tami Zaretzky Reuven Segev Optimization of robot gripping forces and worst case loading
description	We consider the optimization of the vector of gripping forces that support a known generalized force acting on the gripped object—a rigid body or a mechanism. Working in the framework of finite dimensional normed vector spaces and their dual spaces, the cost function to be minimized is assumed to be a norm on the space of gripping forces. We present an expression for the optimum which depends on the external force and the kinematics of the gripping system. Next, assuming that optimal gripping forces are applied using force control, and assuming that there is a bound on the norm of the admissible gripping forces, we characterize the largest norm of an external force that the gripping system may support, that is, the norm of the worst case loading that may be applied and still be supported. A few simple examples are given for the sake of illustration.
format	article
author	Or Elmackias Tami Zaretzky Reuven Segev
author_facet	Or Elmackias Tami Zaretzky Reuven Segev
author_sort	Or Elmackias
title	Optimization of robot gripping forces and worst case loading
title_short	Optimization of robot gripping forces and worst case loading
title_full	Optimization of robot gripping forces and worst case loading
title_fullStr	Optimization of robot gripping forces and worst case loading
title_full_unstemmed	Optimization of robot gripping forces and worst case loading
title_sort	optimization of robot gripping forces and worst case loading
publisher	Elsevier
publishDate	2021
url	https://doaj.org/article/013164a1f4394cbd845c964e8d9cdfb1
work_keys_str_mv	AT orelmackias optimizationofrobotgrippingforcesandworstcaseloading AT tamizaretzky optimizationofrobotgrippingforcesandworstcaseloading AT reuvensegev optimizationofrobotgrippingforcesandworstcaseloading
_version_	1718405518926544896

Optimization of robot gripping forces and worst case loading

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