抓持接触力的空间分解及计算.pdfVIP

Vol. 14 No. 2 CHINESE JOURNAL OF AERONAUTICS May 2001 Calculation of Contact Forces in Grasping by Space Decomposition LI Ji-ting, ZHANG Yu-ru, ZHANG Qi-xian 1 Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing 100083, China Abstract: Robotic hands grasp and manipulate objects through the contact forces between the fingers and the objects. The determination of contact forces in grasping is discussed in this paper. To systematically investigate the characteristics of different grasps, the vector space of contact forces is decomposed into four subspaces and their basis is found by an efficient computational method. The vector of contact forces is then formulated into four components: active and passive grasping forces, controllable and uncontrolla- ble internal forces. The dimensions of the subspaces identify uncontrollable internal forces. The contact force is further expressed into an explicit function of the external wrench and the joint torques. The result- ing formulation simplifies the computation in the optimization of contact forces and makes the optimal vari- ables controllable. Two numerical cases are given to show the simplicity and validity of the method. Key words : multi-fingered hands; robotic hands; grasping; contact forces; space decomposition 抓持接触力的空间分解及计算. 李继婷, 张玉茹, 张启先. 中国航空学报(英文版). 2001, 14(2): 1 12~117. 摘 要:机器人灵巧手抓持和操作物体所需要的力来自手指与物体之间的接触力 本文在静力学范围内研究 对于给定的抓持和操作任务 如何简便 有效和最优地确定抓持接触力 首先将接触力空间分解为 4 个互补 子空间 用子空间的维数判别可控与不可控接触内力 继而提出一种确定各子空间基的简单方法 将接触力 分解为 4 个分量 并将其写成物理所受外力和手指关节力矩之间的显函数 达到减少最优变量和保证优化结