基于指端6维力传感器的接触点测量算法研究

在硬手指接触模型下应用6维力传感器测量值计算接触点位置时,有可能出现无解现象.针对这一问题,分析和证明了硬手指和软手指接触模型下解的存在性和相容性,指出当测量力和力矩正交时,硬手指算法有实根,且符合相容性,反之则不然.当测量力和力矩非正交时,对任意非零接触力旋量,软手指算法存在唯一实数解.因此在实际测量过程中,可通过判断测量力和力矩是否正交,作为选择使用两种算法的依据,以确保测量结果和控制系统稳定可靠.通过实验对上述方法进行了验证. 

Selection of calculation model for contact sensing of robot hand using force/torque measurement

In contact sensing of robot hands, force/torque sensor can be used to detect the position of contact points between the grasped object and the fingers. When hard finger contact model is used to calculate the points from the measured data, the solution may not exist. This problem was investigated under the contact models of hard finger and soft finger respectively. Mathematical verification was developed to find the existence condition of solutions. A simple criterion was provided to determine which contact model must be selected for calculating contact points. The criterion will guarantee the existence of solution. Experiments show that the reliable measurement of contact points can be achieved by this approach.