Grasp Analysis of soft objects using robotic gripper in the presence of an external force

Manipulating and modeling soft objects is a challenging task in the field of robotics. These objects have heavy calculations for modeling due to their infinite degree of freedom. To address this challenge in this paper, we first model soft objects using the mass-spring-damper (MSD) method, which is a good choice to run real-time applications. Then we express the Grasping analysis and introduce challenges such as finding the best position for grasping, contact detection, penetration depth detection to calculate the force applied from the gripper to the object and provide the solution. We also use the Particle swarm optimization (PSO) algorithm to achieve the best performance in the simulation and select the best parameters in this work. Finally, after satisfying the static equilibrium and reducing its error to zero.