基于抓持稳定度的多指灵巧手抓持控制

 提出了一种控制多指灵巧手稳定抓持物体的新方法。首先给出了接触稳定度和抓持稳定度的定义及其相应的计算方法，然后探讨了基于抓持稳定度的多指灵巧手抓持控制方法。最后以北京航空航天大学的BH-2新型三指灵巧手为背景，对所提出的方法进行了仿真验证，仿真结果证明所提方法是有效可行的。

GRASPING CONTROL OF THE DEXTEROUS HAND BASED ON THE DEGREE OF STABILITY OF GRASPING

A method is proposed for the stable grasping control of the dexterous hand. At first the definition and calculating method of the degree of stability of grasping (DSG) are given, and then the DSG based control method for the grasping control of the dexterous hand is explored. The DSG based grasping control of the dexterous hand is a new kind control loop at the outside of the normal position and force control loop, and it works at the same time with the position and force control loop. During the manipulation of the dexterous hand the DSG at each sampling period is calculated and translated to fuzzy subsets. When the DSG is smaller than the given value, the system can increase it by adjusting the position and force control loop. A fuzzy reason system is employed by the controller to give out the adjusting scheme. Simulations have been done using the model of the BH 2 dexterous hand developed by Beijing University of Aeronautics and Astronautics and the results verified the effectiveness of the proposed method.