机器人多指协调操作中抓取力的实时控制

提出了一个通用的抓取力实时控制算法．推广了抓取力的定义，探讨了抓取力存在性．定义了最优抓取力，给出了计算最优抓取力的具体算法．其核心是把抓取力的大小与方向分开处理，在抓取规划阶段确定抓取力的方向，在任务操作时仅调整抓取力的大小，而方向保持不变．该算法能很好地满足协调操作中力控制的实时性要求．仿真结果显示了其优越性．

Real Time Grasping Force Control in Coordination of Multi Fingered Robot Hands

An algorithm suitable for real time grasping force control of multi fingered hands is proposed.The concept of grasping force is generalized, followed by an investigation on its existence. The optimal grasping force satisfies both optimal direction and optimal magnitude conditions. Implementation of the proposed algorithm is divided into two phases: (1) Determine the force direction in grasping planning phase. (2) Determine the force magnitude during task manipulation. As a result, the algorithm has more superiority in real time application. An example is provided to show the efficiency of the algorithm.