机器人多指手的优化抓取力计算

Optimal grasping force computation for multi-fingered robot hand

由于机器人灵巧手与物体接触所产生的摩擦力约束为非线性约束,导致实时计算手指抓取力受到了极大的限制。提出了一种计算多指手优化抓取力的通用方法,其关键是利用拉格朗日乘子法,通过自动调节各手指法向接触力的权值系数来获得满足非线性摩擦锥约束的初始抓取力,并结合梯度流的方法对初始抓取力进行优化。对于任意的干扰外力,在满足抓取稳定性的情况下,可快速地计算出各手指的优化抓取力。仿真结果证明了该方法的有效性。

Real-time grasping force optimization is a difficult problem because the friction torees between dextrous robot fingers and an object are nonlinear constrains. In this paper, we present a general solution for the optimization problem of multi-fingered grasping force. The method is based on the Lagrange multipliers. The initial grasping forces that satisfy frictional constrains can be obtained autonomously by adjusting the weighting factors of the normal forces of individual fingers. By incorporating continuous gradient flows, the optimal grasping forces of individual fingers for stable grasping can be quickly determined in real-time. Simulation results demonstrate the efficiency of the proposed method.