Methods of Grasp Quality Evaluation

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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