| OPTIMUM GRASPING PLANNING FOR MULTIFINGERED DEXTROUS HANDS BASED ON THE ASYMPTOTICAL STABILITY |
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| 作者姓名： | Yang Yang Lu Zhen Zhang Qixian |
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| 作者单位： | Robotics Research Institute，Beijing University of Aeronautics and Astronautics，Beijing，China，100083 |
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| 摘 要： | ＯＰＴＩＭＵＭＧＲＡＳＰＩＮＧＰＬＡＮＮＩＮＧＦＯＲＭＵＬＴＩＦＩＮＧＥＲＥＤＤＥＸＴＲＯＵＳＨＡＮＤＳＢＡＳＥＤＯＮＴＨＥＡＳＹＭＰＴＯＴＩＣＡＬＳＴＡＢＩＬＩＴＹ￥ＹａｎｇＹａｎｇ；ＬｕＺｈｅｎ；ＺｈａｎｇＱｉｘｉａｎ（ＲｏｂｏｔｉｃｓＲｅｓｅａ...
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OPTIMUM GRASPING PLANNING FOR MULTIFINGERED DEXTROUS HANDS BASED ON THE ASYMPTOTICAL STABILITY |
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| Yang Yang,Lu Zhen,Zhang Qixian.OPTIMUM GRASPING PLANNING FOR MULTIFINGERED DEXTROUS HANDS BASED ON THE ASYMPTOTICAL STABILITY[J].Chinese Journal of Aeronautics,1996(2). |
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| Authors: | Yang Yang Lu Zhen Zhang Qixian |
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| Abstract: | The grasp stiffness and joint stiffness for the grasping system of amulti-fingered dextrous hand are characterized, and the expressions are developed forthe potential energy, kinetic energy and the dissipation function in a grasp. Using aLagrangian formula, the small displacement disturbance equation for a multi-fingeredgrasping system is introduced and the equation is solved by modal analysis. Based onthis work, an optimum grasping planning is formulated as a non-linear programmingproblem so that the grasping system could have ideal asmptotical stability. An examplefor the BH-2 anthropoid hand grasping a cylinder-object demonstrates theapplicability and effectiveness of the method. |
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| Keywords: | robots fingers stability optimization |
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