Kinematics and Statics of Manipulation Using the Theory of Polyhedral Convex Cones
Kinematics and Statics of Manipulation Using the Theory of Polyhedral Convex Cones
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基于多面体凸锥理论的操纵运动学和静力学
DOI：
10.1177/027836499301200504
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发表时间：
1993
期刊：
影响因子：
--
通讯作者：
H. Asada
中科院分区：
文献类型：
--
作者：
S. Hirai;H. Asada
本文提出了一种新的方法来分析通过机械接触完成的加工任务的运动学和静力学。在机器人研究中，各种各样的操作问题，包括software和grasp，已经被分开处理。所有的问题都被视为解决一类由机械接触的单向性引起的不等式的方法。在分析操纵性任务时的一个基本困难是不等式的难处理性。在这篇文章中，我们建立了一个基础的数学工具，用于处理各种由单向约束控制的操纵任务。首先，我们介绍了一个连贯的表示制定各种操纵问题。其次，我们开发了几个程序的理论基础上的多面体凸锥来解决这些问题的系统和直接的方式。然后，该方法在计算机上实现，并适用于各种操作问题，包括把握，夹具，和混合位置/力控制。
A new approach to the kinematic and static analysis of ma nipulative tasks performed through mechanical contacts is presented. A variety of manipulation problems, including as sembly and grasps, have been treated separately in robotics research. All of the problems are treated as ways to solve a certain class of inequalities resulting from the unidirectional nature of mechanical contacts. One of the fundamental diffi culties in the analysis of manipulative tasks is the intractable nature of inequalities. In this article, we establish an underpinning mathematical tool for dealing with a variety of manipulative tasks that are governed by unidirectional constraints. First, we introduce a coherent representation for formulating various manipulation problems. Second, we develop several procedures based on the theory of polyhedral convex cones to solve these problems in a systematic and straightforward manner. The method is then implemented on a computer and applied to a variety of manipulation problems, including grasping, fixturing, and hybrid position/force control.