Grasping Algorithm for Varied Objects

Abstract

This paper deals with grasping algorithm for varied objects.To connect the robot with human life, we need an effective grasping algorithm. The robot should be able to grasp varied object in varied environment. The elements necessary for grasping algorithm are as follows: First, when grasping the object with diverse sizes and shapes, the fingers have to contact with them as widely as possible. Second, the robot should be able to control the force imposed on the object by finger knuckles. Third, if the size and position of object are not known accurately, the robot should be able to grasp it effectively. In this paper, we propose a grasping algorithm that can satisfy these conditions, showing the efficiency of this algorithm through the simulation.