wrench2d.zip
Grasp Wrench Space And Epsilon Quality Metric Calculator for Planar Robotic Grasps
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.
引用格式
Ryan Carpenter (2026). wrench2d.zip (https://ww2.mathworks.cn/matlabcentral/fileexchange/46556-wrench2d-zip), MATLAB Central File Exchange. 检索时间: .
致谢
参考作品: Inhull
