パワーグラスプの最適関節トルク計算法(機械力学,計測,自動制御)

概要

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Power grasp or enveloping grasp enables multifingered robot hands to grasp an object firmly by constraining it with multiple contacts with the surfaces of the finger links and palm. Most of power grasps can maintain equilibrium against external force/moment in all directions with constant joint torques as long as their contacts are unbroken. This paper proves that this condition is equivalent to the condition that the grasp force in power grasps is statically indeterminate. We propose two algorithms for computing optimal joint torques for power grasps taking the indeterminacy into consideration. The first algorithm computes the most robust joint torques against changes in external force/moment. The second one computes the minimum magnitude of joint torques in order to maintain equilibrium against a given set of external force/moment. These algorithms are independent of computation of the indeterminate grasp force if it is linear for joint torques and external force/moment.
2002-08-25