Optimization of grasping forces in handling of brittle objects

This paper deals with the optimization of grasping brittle objects with a multi-fingered robot hand under general constraints such as finger deformability and object positioning tolerances. First, a general formulation describing hyperstatic grasping is presented. Then an optimization criterion based on the minimization of squeezing forces and torques is introduced. And finally results of numerical simulation for grasping with a special three-fingered gripper are presented.