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version (3 KB) by Ryan Carpenter
Grasp Wrench Space And Epsilon Quality Metric Calculator for Planar Robotic Grasps


Updated 09 May 2014

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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 (2022). (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2012b
Compatible with any release
Platform Compatibility
Windows macOS Linux

Inspired by: Inhull

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