Measure

Grasp quality

You might say: force closure

Grasp quality measures how well contacts resist external forces and torques. Force closure means the contact set can resist an arbitrary object wrench under the contact model.

What it does

It lets a grasp planner rank candidate contacts before execution.

Ask

Is this grasp in force closure, and how much margin remains?

Sources

1. Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Ch. 12 §§12.1.7 and 12.2.3We say the contacts result in force closure if the composite wrench cone contains the entire wrench space
2. Richard M. Murray, Zexiang Li and S. Shankar Sastry, A Mathematical Introduction to Robotic Manipulation, Ch. 5 §§2–3One is to assign a quality measure to a grasp and choose the grasp which maximizes this quality measure and is also force-closure.

Use it on your project

teardown-apply: hold "Grasp quality" (grasp-quality) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

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