多边形对象四指抓取规划方法

An Approach to the Four-fingers Grasp Planning of Polygonal Parts

利用瞬心三角形概念和性质表示平面四指抓取的形封闭性,建立平面四指抓取方案的形封闭性的判别方法,建立四条边界上是否存在形封闭的抓取接触点位置的判断方法。研究了多边形对象的四条抓取边界上的手指接触位置分布的自动规划问题。该方法可以建立满足形封闭条件的四个手指位置的函数关系,为机器人抓取的质量评价提供数学基础。

A judging and planning method of four-fingered grasp for polygonal parts in form clo- sure were proposed.The concepts of the Instantaneous Rotational Center(TRC)Triangular were il- lustrated at the first.The representational and the judgmental methods for four-finger grasp in form closure were studied based on the definitions of TRC triangular,and the identification method of ex- istence of feasible grasped position of four edges of the polygonal parts with four fingers in form clo- sure was established.The automated planning approach of polygonal parts with four fingers was es- tablished,and the function relationships among fingers position are constructed easily.The approach can provide a mathematic basis for the automatic grasp quality evaluation method.