| Autor: |
Yongguo Zhao, Xuelin Wang, Honghui Rao, Yongfei Xiao |
| Rok vydání: |
2016 |
| Předmět: |
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| Zdroj: |
2016 35th Chinese Control Conference (CCC). |
| DOI: |
10.1109/chicc.2016.7554349 |
| Popis: |
This paper presents a fast force optimization algorithm of multi-fingered robotic hand grasps satisfying force closure equation and frictional constraints based on Lagrange multiplier method. It is based on the minimization of a cost function but the derived model does not ensure the satisfaction of the frictional constraints. A discrete iterative algorithm with realtime detection of contact safety threshold can modify the model until the internal force to cope with friction cone constraints. A very simple practical algorithm is developed which can be easily interpreted, and a very cheaply computable lower bound is given for the grasping force. It provides the suboptimal contact force to realize grasping by using Lagrange multiplier method. The proposed method is simulated on multi-fingered hand grasps with hard and soft finger types. The grasp examples indicate it can ensure the suboptimal grasping force to manipulate object. Simulation results demonstrate the efficiency of the nonlinear force optimization method. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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