Operations Research, Systems Engineering and Industrial Engineering Commons^™

Reaction Based Grasp Force Assignment, Mark W. Hunter

Theses and Dissertations

An iterative method is developed by which the contact forces required to apply an arbitrary wrench (six elements of force and moment) to a stably grasped object may be calculated quickly. The assignment of contact forces, given a required object wrench, is accomplished with the use of fuzzy logic. This concept is referred to as the fuzzy logic reactive system (FLRS). The solution is versatile with respect to goals inherent in the rulebase and the input parameters, and is also applicable for an arbitrary number of contacts. The goal presented in this research, to illustrate the concept of the FLRS, …