Analysis of Object Grasp Regions for Multifingered Hand
Analysis of Object Grasp Regions for Multifingered Hand
复制标题
多指手抓取物体区域分析
DOI：
10.7210/jrsj.24.84
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
S. Tsujio
中科院分区：
文献类型：
--
作者：
Ying Li;Yong Yu;S. Tsujio
用多指手稳定地抓取物体是操纵中的一个重要问题。本文提出了一种分析方法，以获得成功地抓取物体边缘上的指尖位置和其可接受的指尖力。如果作用在物体上的指尖合力和合力矩为零，则可以成功地抓住该物体。首先，利用指尖作用力的平衡条件来选择指尖接触到的目标边缘的候选组合，这些组合可能被用来成功抓取。然后，利用力矩平衡条件，得到抓取成功的指尖位置的边缘区域。解析地介绍了该区域由力矩平衡条件和边长限制引起的边界超平面的边界。提出了两个获取成功抓取手指位置区域的命题。如果找不到区域，则放弃边的候选组合。最后给出了一种计算成功抓取区域内指尖位置对应的指尖力的算法。通过几个数值算例验证了该分析方法的有效性。
Stable grasp of an object with a multifingered hand is an important issue on manipulation. This paper addresses an analytical approach for obtaining a successfully-grasping fingertip positions on the edges of an object and its acceptable fingertip forces. The successful grasp of an object can be achieved if the resultant fingertip forces and resultant moments acting on the object are zero. At first the equilibrium condition of fingertip forces is used to select candidate combinations of the object edges touched by fingertips which may be utilizable for successfully grasping. Then, by using the moment equilibrium condition the regions of the successfully-grasping fingertip positions on the edges are obtained. It is analytically introduced that the region is bounded by boundary hyperplanes induced by the moment equilibrium condition and edge-length-limits. Two propositions are proposed for obtaining the region of the successfully-grasping finger positions. If the region cannot be found out, the candidate combination of the edges will be abandoned. Finally an algorithm is given for the fingertip forces corresponding to a fingertip position in the successfully-grasping region. Several numerical examples are conducted to verify the validity of the proposed analytical approach.