机器人多指手协调操作中的约束运动及规划

Constrained Motion and Planning in Coordination of Multifinger Robot Hands

以点接触滚动约束为模型对手指尖与物体之间的运动关系进行研究，目的是在被操作物体、手指轮廓及物体运动已知的前提下，为确定手指及手指上接触点的运动和位置提供一种有效的求解方法，对约束运动规划作了讨论，提出了一个用于运动规划的性能指标，即任务空间的力椭球。

With the rolling constraint of point contact as a model,the motion relationship betweena fingertip and an object is studied. The contact is with friction. In the study,assume thatthe geometry of the fingertip and that of the object as well as the motion of the object areknown,and the motion and position of the finger and contact point on the fingertip are to bedetermined.Because the position of the contact point is variable during coordinated manipu-lation,it is necessary to plan the constrained motion to guarantee a force closure。The con-strained motion planning is discussed and a performance index proportional to the ellipsoidalvolume in the task space for motion planning is proposed.