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.
Ryan Carpenter (2020). wrench2d.zip (https://www.mathworks.com/matlabcentral/fileexchange/46556-wrench2d-zip), MATLAB Central File Exchange. Retrieved .
Inspired by: Inhull
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