| 综合重力的稳定抓取分析及其应用 |
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| 引用本文： | 康庆生,孟正大,戴先中. 综合重力的稳定抓取分析及其应用[J]. 制造业自动化, 2005, 27(5): 33-34,73 |
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| 作者姓名： | 康庆生 孟正大 戴先中 |
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| 作者单位： | 1. 东南大学,自动控制系,南京,210018;南京航天晨光股份有限公司研发中心,南京,210006
2. 东南大学,自动控制系,南京,210018 |
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| 基金项目： | 国家高技术研究发展计划(863计划)资助项目(2003AA420010) |
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| 摘 要： | 稳定抓取物体是机器人研究中的重要研究课题。本文借助部分力封闭理论，将重力作为接触力，给出了刚体平衡方程与部分力封闭间的关系，得到了相对较弱的物体稳定抓取条件。文中结论对控制机器人并行手爪稳定抓取移动物体有普遍意义。
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| 关 键 词： | 形封闭 力封闭 重力 抓取稳定 |
| 文章编号： | 1009-0134(2005)05-0033-03 |
Analysis on grasping stability with weight and its application |
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| KANG Qing-sheng,MENG Zheng-da,DAI Xian-zhong. Analysis on grasping stability with weight and its application[J]. Manufacturing Automation, 2005, 27(5): 33-34,73 |
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| Authors: | KANG Qing-sheng MENG Zheng-da DAI Xian-zhong |
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| Abstract: | Grasping stability is an important research topic. Considering weight as a contact force, this paper presents the relationship between force-closure and rigid equilibrium and obtains a weaker condition for grasping stability with the help of the theory of partial force-closure. The results in this paper are useful for controlling stable grasping with parallel fingers. |
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| Keywords: | form-closure force-closure weight grasping stability |
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