| 机器人多指抓取的力封闭判别 |
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| 引用本文： | 秦志强,赵锡芳,李泽湘.机器人多指抓取的力封闭判别[J].上海交通大学学报,1999,33(7):241. |
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| 作者姓名： | 秦志强 赵锡芳 李泽湘 |
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| 作者单位： | 1. 上海交通大学,机器人研究所,上海,200030
2. 香港科技大学,电机与电子工程系,香港 |
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| 摘 要： | 在机器人多指操作过程中，需要判断抓取姿态是否满足力封闭条件．基于非线性摩擦锥约束转换为对称矩阵的正定线性约束，进一步将抓取力摩擦锥约束转换为线性矩阵不等式约束，使抓取力封闭判别问题转化为带线性矩阵不等式约束的可行解问题，给出了力封闭抓取的充要条件
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| 关 键 词： | 机器人 多指抓取 线性矩阵不等式 力封闭 |
On the Force Closure of Robotic Multifingered Grasp |
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| QIN Zhi-qiang,ZHAO Xi-fang,LI Ze-xiang.On the Force Closure of Robotic Multifingered Grasp[J].Journal of Shanghai Jiaotong University,1999,33(7):241. |
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| Authors: | QIN Zhi-qiang ZHAO Xi-fang LI Ze-xiang |
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| Abstract: | An important topic of robotic multifingered manipulation process is the force closure problem of grasp configuration. Based on the early result, which transforms the nonlinear friction cone constraints into positive definiteness of certain symmetric matrices, this paper further cast the friction cone constraints into linear matrix inequalities (LMIs) and formulated the force closure problem as an LMI feasibility problem. The latter was extensively studied in the optimization and control community, and highly efficient algorithms with polynomial time complexity are now available for its solution. |
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| Keywords: | robots multifingered grasp linear matrix inequalities force closure |
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