基于形封闭定量分析的最优抓取

The Optimal Grasp Based on Quantitative Analysis of FormClosure

把形封闭看作力封闭在无摩擦点接触约束下的一个特例，对形封闭和部分形封闭作了定量分析．探讨了外力旋量空间与任一接触点操作力空间之间的关系．定义了约束力集和法向力集，并根据两者之间的关系，从力分析的角度导出了形封闭和部分形封闭的充要条件．提出了以单向约束的满足程度作为衡量抓取性能的定量指标，并以实例说明如何根据线性规划最优解规划最优抓取．

Regarding formclosure as a special case of forceclosure, we address the quantitative analysis of formclosure and partially formclosure. As a first step, the relationship between the external wrench space and the manipulation force space at any contact is studied. Based on the definitions of constraint force set and normal force set as well as their relationship, the necessary and sufficient conditions of formclosure and partially formclosure are derived. A geometrically explicit quality index, which implies the safety margin on unilateral constraints, is also put forward. In the end, some examples are presented to show how to plan the optimal grasp based on the optimal linear programming solution.