Lecture 1.4: The Grasp Matrix

In this lecture, the role of the Grasp Matrix in grasp analysis is explained. Studying the null space of the Grasp Matrix allows to find the internal contact forces, that are fundamental to achieve a stable grasp. For the detailed computation of the Grasp Matrix please refer to Unit 2, and in particular to: - Lecture 2.1 - "Object Kinematics" -    • Lecture 2.1: Object Kinematics   - Lecture 2.3 - "Contact Models" -    • Lecture 2.3: Contact models   This video is part of the course "The Art of Grasping and Manipulation in Robotics", available at: sirslab.dii.unisi.it/GraspingCourse/index.html.