机器人手的抓持能力和抓持判断

Grasp Abilities and Grasp Judgement of Robot Hand

本文利用力旋量空间研究机器人抓持能力的度量问题.严格定义了平衡和稳定两种不同的抓持.用稳定(平衡)抓持域表征了机器人手的稳定(平衡)抓持能力的大小.讨论了两种稳定(或平衡)抓持域,即最大可能抓持域和有效抓持域.利用抓持域的概念可将抓持判断问题转化为一点(或一个集合)是否属于某一特定集合的几何问题,从而为在不解平衡方程的情况下判断抓持的性质提供了可能.

The stable grasp and equilibrious grasp abilities of a robot hand are discussed. Being different in concept, the stable grasp and equilibrious grasp are strictly defined. With the definitions given, the abilities of stable grasp and equilibrious grasp are also represented, respectively, by stable grasp domain SG and equilibrious grasp domain EG in wrench space. Two kinds of stable grasp domain are introduced, the maximum possible SG under the assumption that all constraint forces could be controlled, and the available grasp domain when a linear force control rule is specified. The judgement whether a grasp is stable or equilibrious is equivalent to the judgement whether the extra wrench belongs to SG or EG. Therefore, it is possible to judge the nature of the grasp and unnecessary to solve the equilibrium equations.