Searching grasping points reachable by a three-finger robotic hand on a 2D object

This project presents the searching process of contact points for grasping 2-D discretized objects by 3-finger robotic hand. The conditions of non-slippery and force closure grasp are first explained, considering both the boundary of objects and configuration of robotic hand. Next, we developed the algorithm of searching order and a new geometrical algorithm of evaluation of force closure condition and the quality measurement of grasps including each computation details of constraints. We have made six simulations with regular and irregular objects to test the algorithm