机器人多指抓取力封闭分析的非线性规划算法

提出了一个同时适于机器人多指抓取力封闭定性与定量分析的非线性规划算法。从抓取的力平衡方程出发，研究了外力旋量空间与任一接触处操作力空间之间的关系。在接触力空间定义了约束力集、严格约束力集及法向力集，分析了三者之间的关系。基于摩擦约束的凸性，给出了力封闭和部分力封闭的充要条件，推导了相应的判别算法。提出了衡量抓取接触稳定性的定量指标。最后做了实例说明。

A NONLINEAR PROGRAMMING ALGORITHM FOR FORCE-CLOSURE ANALYSIS IN MULTI-FINGERED ROBOTIC GRASPING

A nonlinear programming algorithm suitable for both qualitative and quantitative analyses of force closure in multi fingered robotic grasping is proposed. Based on the force equilibrium equations, the relationship between the external wrench space and the manipulation force space at any contact is investigated. Constrained force set, strictly constrained force set and normal force set are proposed and their relationships are detailed. On the basis of the convexity of frictional constraints, the necessary and sufficient conditions for force closure and partially force closure are derived. Accordingly, an algorithm for testing the closure properties is presented. A quantitative index, which is applicable to evaluating the grasp contact stability, is also put forward. Some examples are given to illustrate the efficiency of the proposed algorithm.