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Grasping strategies for a virtual barrett hand based on conformal geometric algebra

: Zhang, H.
: Hildenbrand, D.

Darmstadt, 2006, 88 pp.
Darmstadt, TU, Dipl.-Arb., 2006
Fraunhofer IGD ()
geometric algebra; computational geometry; geometric computing

In this paper, the grasping strategies for a virtual BarrettHand were studied based on conformal geometric algebra. A novel interactive method was used to calculate the hand's configurations during simulation of the mechanical grasping process. The grasp preshapes were introduced to simplify the complexity of the grasp procedure. Finally, the algorithm was implemented in CLUCalc.