Synergies Evaluation of the SCHUNK S5FH for Grasping Control
Synergies Evaluation of the SCHUNK S5FH for Grasping Control
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DOI：
10.1007/978-3-319-56802-7_24
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发表时间：
2018-01-01
期刊：
影响因子：
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通讯作者：
Siciliano, Bruno
中科院分区：
文献类型：
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作者：
Ficuciello, Fanny;Federico, Alba;Siciliano, Bruno
在这项工作中，我们对欠驱动拟人手 SCHUNK 五指手 (S5FH) 进行了姿势协同研究。使用 RGBD 相机传感器获得的指尖测量值和逆运动学将人手的抓握映射到机器人手上。由于 S5FH 是欠驱动的，因此可以使用电机空间和笛卡尔空间之间的微分运动学映射以及基于考虑手的机械协同作用的高矩形手雅可比行列式的闭环逆运动学 (CLIK) 来获得近似解。如此计算的电机协同效应已针对抓取过程中的手部控制进行了测试。电机电流测量已用于通过协同子空间中的电机位置控制来限制抓握力。
In this work, a study on postural synergies has been conducted on an under-actuated anthropomorphic hand, the SCHUNK Five-Fingered Hand (S5FH). Human hand grasps are mapped on the robotic hand using fingertips measurements, obtained with an RGBD camera sensor, and inverse kinematics. Since the S5FH is under-actuated, an approximate solution can be obtained using the differential kinematics mapping between the motor space and the Cartesian space and a closed-loop inverse kinematics (CLIK), based on a high-rectangular hand Jacobian that takes into account themechanical synergies of the hand. The so-computed motor synergies have been tested for hand control during grasping. The motor current measurements have been used to limit the grasping forces trough a motor position control in the synergies subspace.