This paper presents a method for grasp evaluation. It is based on the ability of the grasp to reject disturbance forces. The procedure takes the geometry of object into account, and it is also possible to incorporate task-oriented information. The evaluation criterion is formulated as a min-max optimization problem, for which an efficient algorithm is proposed and analyzed. The result of this algorithm is independent of scale and choice of reference frame, and can easily be visualized as a surface in the force space. The method is illustrated with several examples.

A novel approach to grasp evaluation is proposed. The procedure is based on the ability of the grasp to resist disturbance forces. The result is easily visualized as a 3D surface in force space. Assuming that the grasped object is a polyhedron, the complete object geometry is taken into account when evaluating the grasp. This is an improvement over approaches that are based on the grasp matrix alone. Task information can be included by specifying object vertices that are likely to be in contact during the task. The procedure can be formulated as a min-max problem and an efficient algorithm for solving it is proposed. Additionally a simple example, demonstrating the concept and the algorithm, is shown.