机器人多指操作的抓取力分析和实时优化

GRASPING FORCE ANALYSIS AND OPTIMIZATION FOR ROBOTIC MULTIFINGERED MANIPULATION

在非线性摩擦锥约束转换为对称矩阵正定线性约束的基础上，首先将抓取力摩擦锥约束进一步转换为线性矩阵不等式约束，使抓取力封闭判别问题转化为带线性矩阵不等式约束的可行解问题，完成抓取的力封闭条件判别，然后根据摩擦锥的正定线性约束矩阵和抓取力平衡约束矩阵的分块特性和稀疏特性，实现多指滚动操作实时抓取力优化计算。最后在多指手实验平台上实现并验证了算法。

Based on the early result that the nonlinear friction cone constraints are transformed into positive definiteness of certain symmetric matrices, further cast the friction cone constraints into linear matrix inequalities (LMIs) and formulate the force closure problem as an LMI feasibility problem. The latter was extensively studied in optimization and control scommunity and highly efficient algorithms with polynomial time complexity are now available for its solution. Then, with the observation that the linear constraint matrix of friction cone is sparse and constant, and only the linear constraint matrix of grasp map is dependent on the contact coordinates of the object, extend the grasping force optimization algorithm to realize the real-time grasping force optimization for multifingered manipulation with rolling contact. Finally, give the experiment results to verify the proposed algorithms on the multifingered hand platform.