Study on a Method to Derive the Optimal Grasping Points for an Object with Indeterminate Center of Gravity

Abstract

The optimal grasping points of an object with a robotic hand depend not only on external wrenches but also on the position of the object's center of gravity (COG). Depending on object's type, the COG position of an object may be indeterminate. In this paper, introducing a candidate COG position set as well as a required external wrench set, we propose a method to derive the optimal grasping points for an object with indeterminate COG. We also confirm that the proposed method works properly with numerical examples. In addition, we examine the improvement of efficiency of the optimization method.