多指手协调操作中内力的计算

THE INTERNAL FORCE COMPUTATION IN COORDINATIVE MANIPULATION WITH A MULTIFINGERED HAND

机器人多指手协调操作物体时,合理地确定手指对被操作物体的作用力是必要的.本文将手指尖与被操作物体之间接触模拟为具有摩擦的点接触,对由多指手与被操作物体组成的这样一个速度较低的系统作了静力分析,并对多指手操作物体时的操作力作了合理的分配,提出基于力矩最小的内力的最优计算方法,在计算中,充分考虑到手指只能推而不能拉物体这一实事.最后,以4个手指操作一个圆柱形物体为例.对操作过程作了图形仿真.

Effective finger force computation is necessary for successful manipulation of an object by a multifingeredhand.Based on point contact models,the static forces are analysed for a lower velocity system which is com-posed of fingers and grasped object in this paper.The manipulation force is distributed rationally.An opti-mization method for computing the internat force is presented on the basis of minimizing torque.The con-straint condition is considered fully in computing the internal force,i.e.,the fingres can only push,not aswell as pull on the object,because there is no glue between the object and the fingers.Finally,as an exam-ple,the graphical simulaion of a multifingered hand manipulating a cylindrical object is given.