论文标题
优化机器人抓紧力和最坏情况
Optimization of Robot Grasping Forces and Worst Case Loading
论文作者
论文摘要
我们考虑了支持作用在抓握物体上的已知广义力的抓地力矢量的优化---刚体或机制。在有限维规范的矢量空间及其双空间的框架内工作，要最小化的成本函数被认为是抓地力空间的规范。我们提出了最佳的表达式，取决于抓握系统的外力和运动学。接下来，假设使用力控制使用最佳的握力，并且假设可以接受可允许的握力的范围，那么我们表征了握把系统可能支持的外部力的最大范围，即，即可能施加最差的案例载荷的规范，并且可以施加并且仍被支持。为了插图，给出了一些简单的示例。
We consider the optimization of the vector of grasping forces that support a known generalized force acting on the grasped object---a rigid body or a mechanism. Working in the framework of finite-dimensional normed vector spaces and their dual spaces, the cost function to be minimized is assumed to be a norm on the space of grasping forces. We present an expression for the optimum which depends on the external force and the kinematics of the grasping system. Next, assuming that optimal grasping forces are applied using force control, and assuming that there is a bound on the norm of the admissible grasping forces, we characterize the largest norm of an external force that the grasping system may support, that is, the norm of the worst-case loading that may be applied and still be supported. A few simple examples are given for the sake of illustration.
