| 多指灵巧手考虑渐近稳定性的最优抓持规划 |
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| 引用本文： | 杨洋,陆震,张启先.多指灵巧手考虑渐近稳定性的最优抓持规划[J].航空学报,1996,17(3):324-329. |
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| 作者姓名： | 杨洋 陆震 张启先 |
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| 作者单位： | 北京航空航天大学机器人研究所!北京，100083，北京航空航天大学机器人研究所!北京，100083，北京航空航天大学机器人研究所!北京，100083 |
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| 基金项目： | 国家自然科学基金，航空基金资助课题 |
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| 摘 要： | 基于抓持刚度和关节刚度、抓持阻尼和关节阻尼的概念,采用拉格朗日方程推导了多指抓持系统的小位移干扰方程并对其进行了模态分析,按照最佳稳定性为目标对多指灵巧手抓持进行了最优化设计以得到最佳的抓持姿态。以 BH-2类人手抓持一圆柱体作为算例显示方法的实用性和有效性
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| 关 键 词： | 机器人 手指 稳定性 最优规划 |
OPTIMUM GRASPING PLANNING FOR DEXTROUS HAND BASED ON THE ASYMPTOTICAL STABILITY |
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| Yang Yang,Lu Zhen,Zhang Qixian.OPTIMUM GRASPING PLANNING FOR DEXTROUS HAND BASED ON THE ASYMPTOTICAL STABILITY[J].Acta Aeronautica et Astronautica Sinica,1996,17(3):324-329. |
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| Authors: | Yang Yang Lu Zhen Zhang Qixian |
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| Institution: | Robotics Research Institute, Beijing University of Aeronautics and Astronautics, Beijing,100083 |
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| Abstract: | The paper characterizes the grasp stiffness and joint stiffness for the grasping system of a multi fingered dextrous hand, and develops the expressions for the potential energy, kinetic energy and the dissipation function in a grasp. Using a Lagrangian formula, the small displacement disturbance equation for multi\|fingered grasping system is introduced and the equation is solved by modal analysis. Based on this work, an optimum grasping planning is formulated as a non linear programming problem so that the grasping system could have ideal asymptotical stability. An example for the BH 2 anthropoid hand grasping a cylinder object demonstrates the applicability and effectiveness of the method. |
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| Keywords: | robots fingers stability optimal planning |
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