Methods of Grasp Quality Evaluation

Authors: Leskov A.G., Bazhinova K.V., Seliverstova E.V. Published: 26.05.2017
Published in issue: #3(114)/2017  

DOI: 10.18698/0236-3941-2017-3-122-139

Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems  
Keywords: automatic grasping, grasp properties, grasp quality, quality measure, analytical grasp evaluation, robotic gripper

This paper considers the problem of choosing the suitable method for grasping objects. As the grasp must have such properties as the disturbance resistance, dexterity, equilibrium and stability, the selection of the appropriate grasp method is based on comparison of quantitative evaluation of quality measures, associated with these properties. The paper presents the classification of quality measures, as well as the review of the most common performance criteria and methods of their computation. Moreover, we developed an algorithm to evaluate quality measures for an arbitrary grasp. We give the calculation data of the considered criteria and their analysis.


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