Static analysis of deformable object grasping based on bounded force closure

Abstract

A static analysis of deformable object grasping based on bounded force closure is presented. There are many manipulative operations that deal with deformable objects in manufacturing processes. Manipulative operations for these objects are often performed by utilizing their deformation actively while the operations may result in failure because of unexpected deformation of the objects during the manipulation process. In order to perform the manipulative operations for deformable objects successfully, it is necessary to evaluate their deformation by building object models and to derive task strategies by analyzing manipulation processes using the object models. In this paper, we will analyze stable grasping of deformable objects based on the concept of bounded force closure. Firstly, we will introduce the concept of bounded force closure, which is an extension of force closure condition. Secondly, we will investigate the necessary condition for bounded force closure in order to derive the properties of bounded force closure grasping. Thirdly, we will formulate the deformation of linear objects as an example of deformable objects and we will propose a procedure to evaluate stability of deformable object grasping. Finally, some numerical examples will be shown in order to demonstrate the effectiveness of our proposed method.