wrench2d.zip

Version 1.1.0.0 (3 KB) by Ryan Carpenter
Grasp Wrench Space And Epsilon Quality Metric Calculator for Planar Robotic Grasps
0.0
(0)
249 Downloads
Updated 9 May 2014

View License

Builds a grasp wrench space for a planar robotic grasp given a set of contact points and angles. Also calculates epsilon which can help you determine if you have achieved a force (or form) closure grasp.
Instructions: Run force_close2D.m for epsilon calculation or run wrench2d.m if you just want to convert contact points into wrenches.

Cite As

Ryan Carpenter (2024). wrench2d.zip (https://www.mathworks.com/matlabcentral/fileexchange/46556-wrench2d-zip), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2012b
Compatible with any release
Platform Compatibility
Windows macOS Linux
Categories
Find more on Coordinate Transformations in Help Center and MATLAB Answers
Acknowledgements

Inspired by: Inhull

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

wrench2d/

Version Published Release Notes
1.1.0.0

Added instructions
1.0.0.0