Analysis and control of power grasping
Analysis and control of power grasping
复制标题
抓力分析与控制
DOI：
10.1109/iros.1991.174559
复制
发表时间：
1991
期刊：
影响因子：
--
通讯作者：
A. Bicchi
中科院分区：
文献类型：
--
作者：
A. Bicchi
研究了用机械手抓取物体的问题。考虑到一些或所有手指不能任意控制与抓取的对象的交互的可能性。这样的有缺陷的操作系统仍然可以被协作协调，以便有效地执行。事实上，在许多操纵操作中，手臂有缺陷是常态，而不是例外，比如用手抓力，或者整个手臂操纵大型物体。本文试图解决物体动力抓取中接触力的优化问题。为此，首先建立了可用于抓取优化的抓取力的子空间基础。这种分析对于后续的优化策略是有用的，包括对某些质量标准极值的追求。提出了一种控制算法，保证了在保持手指与物体之间有界的接触力的同时，使滑移风险最小化的抓取力配置的渐近收敛。
The problem of grasping objects with a robotic hand is considered. The possibility that some or all of the fingers are not able to arbitrarily control interactions with the grasped objects is taken into account. Such defective manipulation systems can still be cooperatively coordinated so as to perform usefully. In fact, having defective arms is the norm rather than an exception in many manipulation operations, such as power grasps with a hand, or whole arm manipulation of large objects. The paper attempts to solve the problem of optimizing contact forces in the power grasp of an object. To do so, a basis of the subspace of grasp forces that are available for grasp optimization is firstly established. This analysis is instrumental for subsequent optimization strategies, incorporating the quest for an extremum of some quality criterion. A control algorithm is presented that guarantees the asymptotic convergence to the grasp force configuration that minimizes the risk of slippage while maintaining bounded contact forces between the fingers and the object.<<ETX>>