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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.
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