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If the imposed task and gripper constraints do not allow a possible grasp, intermediate motions may need to be made to reorient the part. Once a set of possible grasps which statisfy task and gripper constraints are found, the stability of each grasp is analyzed using screw theory. An optimal grasp is one which minimizes the grasping forces over the possible set of grasps. Results utilizing our methodology are presented. Our method can be interfaced with CAD database such as a solid modelling system based on boundary representation for automatic selection of grasping configurations.<\/jats:p>","DOI":"10.1002\/rob.4620040602","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T06:21:00Z","timestamp":1183702860000},"page":"687-717","source":"Crossref","is-referenced-by-count":6,"title":["Static grip selection for robot\u2010based automated assembly systems"],"prefix":"10.1002","volume":"4","author":[{"given":"Shaheen","family":"Ahmad","sequence":"first","affiliation":[]},{"given":"John T.","family":"Feddema","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","first-page":"1977","volume-title":"Proceedings of 7th International Symposium on Industrial Robots","author":"Hanafusa H.","year":"1982"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"H.Hanafusa andH.Asada \u201cA Robot Hand with Elastic Fingers and Its Application to Assembly Process \u201d Proceedings of IFAC Symposium on Information and Control Problems in Manufacturing Technology Tokyo 1977 pp.127\u2013138. 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