Rigid body analysis of power grasps: bounds of the indeterminate grasp force
Rigid body analysis of power grasps: bounds of the indeterminate grasp force
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抓握力的刚体分析：不确定抓握力的界限
DOI：
10.1109/robot.2001.932950
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发表时间：
2001
期刊：
影响因子：
--
通讯作者：
T. Omata
中科院分区：
文献类型：
--
作者：
T. Omata
一般来说，动力抓握的平衡方程不能唯一地确定抓握力。本文通过考虑与刚体运动的兼容性，证明了在有界超多面体内，不确定的抓握力不一定是凸的。最大分数角位于其顶点。因此，如果顶点处的所有力都在摩擦锥内，则超多面体中的所有力都在摩擦锥内。基于此分析，我们提出了一种计算关节扭矩的算法，该算法可以平衡一组给定的外部干扰。
The equilibrium equation of a power grasp cannot determine the grasp force uniquely in general. This paper proves that the indeterminate grasp force is, within a bounded hyper-polyhedron, not necessarily convex by considering the compatibility with rigid body motion. The maximum fraction angle is found at its vertex. Thus, if all forces at the vertices are within the friction cone, then all forces in the hyper-polyhedron are within the friction cone. Based on this analysis, we present an algorithm for computing the joint torques that can balance a given set of external disturbances.