Task specific robust grasping for multifingered robot hands
Task specific robust grasping for multifingered robot hands
复制标题
多指机器人手特定任务的稳健抓取
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
K. Kyriakopoulos
中科院分区：
文献类型：
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作者：
George I. Boutselis;Charalampos P. Bechlioulis;Minas Liarokapis;K. Kyriakopoulos
在本文中，我们提出了一种完整的方法，用于在广泛的不确定性下为多指机器人手导出特定于任务的力闭合抓取。给定一组代表要执行的任务的有限外部干扰，以一种新颖的方式引入 Q 距离的概念，以确定与任务兼容的手势（即配置和接触点）的有效抓握。我们的方法还考虑了机器人手设计和要抓取的物体所施加的机械和几何限制。此外，结合我们最近的抓取结果[1]，机器人手施加所需接触力的能力得到最大化，并建立了针对定位不准确和物体不确定性的鲁棒性。最后，通过对连接在 7 DoF Mitsubishi PA10 机器人操纵器末端执行器上的 15 DoF DLR/HIT II 机器人手进行实验研究，验证了我们方法的效率。
In this paper, we propose a complete methodology for deriving task-specific force closure grasps for multifingered robot hands under a wide range of uncertainties. Given a finite set of external disturbances representing the task to be executed, the concept of Q distance is introduced in a novel way to determine an efficient grasp with a task compatible hand posture (i.e., configuration and contact points). Our approach takes, also, into consideration the mechanical and geometric limitations imposed by the robotic hand design and the object to be grasped. In addition, incorporating our recent results on grasping [1], the ability of the robot hand to exert the required contact forces is maximized and robustness against positioning inaccuracies and object uncertainties is established. Finally, the efficiency of our approach is verified through an experimental study on the 15 DoF DLR/HIT II robotic hand attached at the end effector of the 7 DoF Mitsubishi PA10 robotic manipulator.