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Li Jiting
Zhang Yuru
Guo Weidong
Zhang Qixian
Robotics Institute,
Beijing University of Aeronautics
and Astronautics,
Beijing 100083, China |
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FORCE OPTIMIZATION OF GRASPING
BY ROBOTIC HANDS*
Abstract: It is important for robotic
hands to obtain optimal grasping performance in the meanwhile
balancing external forces and maintaining grasp stability. The
problem of force optimization of grasping is solved in the space of joint torques. A measure of grasping performance is presented to protect joint actuators from working in heavy payloads. The joint torques are calculated for the optimal performance under the frictional constraints and the physical limits of motor outputs. By formulating the grasping forces into the explicit function of joint torques, the frictional constraints imposed on the grasping forces are transformed into the constraints on joint torques. Without further simplification, the nonlinear frictional constraints can be simply handled in the process of optimization. Two numerical examples demonstrate the simplicity and effectiveness of the approach.
Key words:
Force
optimization Grasping force Robot hand |