| 引用本文: | 陈栋金,姜力,王新庆.多指抓取力的线性组合计算[J].哈尔滨工业大学学报,2013,45(1):55.DOI:10.11918/j.issn.0367-6234.2013.01.011 |
| CHEN Dongjin,JIANG Li,WANG Xinqing.Computation of multi-fingered grasping force with linear combination[J].Journal of Harbin Institute of Technology,2013,45(1):55.DOI:10.11918/j.issn.0367-6234.2013.01.011 |
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| 摘要: |
| 为提高力优化算法的实时性,提出一种新的计算抓取力初值的方法. 首先离线计算一组单位外力对应的抓取力作为线性组合的基础向量,然后将任意外力分解为单位力的线性组合,对基础抓取力按同样规律组合,得到满足约束的抓取力初值. 算例仿真分析结果表明,该方法的计算速度比拉格朗日对偶法、单值优化法更快,且减少了力优化算法的收敛步数目. 在带摩擦点接触抓取模型中,应用该方法为多指抓取的力优化算法求取初值,有利于提高力优化算法的实时性. |
| 关键词: 手指 多指抓取 力优化 初值 线性组合 |
| DOI：10.11918/j.issn.0367-6234.2013.01.011 |
| 分类号:TP242.6 |
| 基金项目:国家高技术研究发展计划资助项目(2009AA043803); 国家重点实验室项目(SKLRS200901B); 新世纪优秀人才支持计划资助项目(NCET-09-0056); 国家自然科学基金资助项目(51175106);国家基础研究发展规划资助项目(2011CB013306). |
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| Computation of multi-fingered grasping force with linear combination |
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CHEN Dongjin, JIANG Li, WANG Xinqing
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State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150080 Harbin, China
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| Abstract: |
| To improve the efficiency of force optimization algorithms, a new method to compute initial grasping force is proposed. A group of grasp forces with respect to external unit forces separately is computed, and an arbitrary external force is decomposed into linear combination of unit forces. The initial force is obtained by linear combination with the same rule. An example indicates that the new method reduces the steps of convergence of force optimization algorithms and is faster than Lagrange dual method and single value optimizing method. The method can be used to provide initial values for the force optimization algorithms in the point contact friction models, and improve efficiency. |
| Key words: finger multi-fingered grasp force optimization initial value linear combination |
