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| 多指抓取接触力求解及规划研究 | |
| 引用本文： | 刘玉旺,王洪光,周维佳. 多指抓取接触力求解及规划研究[J]. 机械设计与制造, 2011, 0(4) |
| 作者姓名： | 刘玉旺 王洪光 周维佳 |
| 作者单位： | 1. 中国科学院沈阳自动化研究所,机器人学国家重点实验室,沈阳,110016;中国科学院,研究生院,北京,100039 2. 中国科学院,沈阳自动化研究所,机器人学国家重点实验室,沈阳,110016 3. 中国科学院,沈阳自动化研究所,机器人学国家重点实验室,沈阳,110016;威斯康星大学,麦迪逊分校空间自动化与机器人中心,美国 |
| 基金项目： | 机器人学国家重点实验室基金 |
| 摘 要： | 分析了不同接触模型的力螺旋约束,首先通过建立力平衡方程求解了多指抓取的接触力,结合算例指出所求解接触力可能不满足接触的单向性约束;然后分析了多指抓取时的等式和不等式约束,给出了新型目标函数,通过优化方法规划出多指抓取的接触力,最后的算例验证了优化法的有效性和正确性. |
| 关 键 词： | 多指抓取 接触力 力平衡 力规划 |
Contact force solving and programming in multi-fingered grasp |
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| LIU Yu-wang,WANG Hong-guang,ZHOU Wei-jia. Contact force solving and programming in multi-fingered grasp[J]. Machinery Design & Manufacture, 2011, 0(4) | |
| Authors: | LIU Yu-wang WANG Hong-guang ZHOU Wei-jia |
| Affiliation: | LIU Yu-wang1,2,WANG Hong-guang1,ZHOU Wei-jia1,3(1State Key Laboratory of robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China)(2Graduate School,Beijing 100039,China)(3Wisconsin Center for Space Automation and Robotics,University of Wisconsin-Madison,Madison,USA) |
| Abstract: | The force restrictions of different contact models are analyzed.The contact fore is got by the help of constructing force-balance equation.It shows that the contact force obtained maybe not satisfy the contact restriction.Then the multi-fingered grasp's equation and inequation restrictions,as well as the goal function,are given.As a result,the contact force of grasp can be got through programming method.The example in the end shows that the programming is effective. |
| Keywords: | Multi-fingered grasp Contact force Fore balance Force programming |
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