虚拟指尖力传感器的建模与实现

Modeling and realization of virtual fingertip force sensor

为了在灵巧手动力学研究领域提供更多的研究工具,根据真实三维指尖力传感器的原理,运用力传感器弹性体建模的方法,构造了虚拟指尖力传感器的模型。为了求解力传感器模型的弹性体变形量,采用了一种动力学方程数值积分方法。该虚拟指尖力传感器,通过在机器人灵巧手虚拟现实遥操作平台上的运用,实现了对抓取滑动的判断,并验证了模型的精度。最后,基于滑动的判断,系统确定了一种抓取策略,针对虚拟环境中灵巧手的自主抓取问题进行了有益的探索。

In order to provide more research tools on dynamic of dexterous, using the modeling way of elastomer of force sensor, the model of virtual fingertip force sensor was structured, according to the principle of real three-dimensional fingertip force sensor, In order to solve the deformations of elastomer in the model, one of the numerical intergration solution of dynamic equation was adopt. Using the virtual fingertip force sensor, the virtual reality teleoperation platform of robot dexterous can achieve the judgement of grasping slide and verify the precision of virtual finger force sensor. Finally, this system establishes a strategy of grasp and makes an useful explore to the dexterous＇s grasp of independence in virtual environment, based on the judgement of slide,