基于力封闭的虚拟手静抓持规则  

Virtual Hand Grasp Rule Based on Force Closure

作　　者：王晶晶[1] 刘玉庆[1] 

机构地区：[1]中国航天员科研训练中心

出　　处：《机械科学与技术》2011年第5期778-784,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：国防基础科研项目(B1620080001);中国航天医学工程预研项目(2007SY5413006)

摘　　要：在虚拟操作过程中,需判断虚拟手是否稳定抓取虚拟物体。借鉴机械手静抓持原理,提出基于力封闭的虚拟手静抓持规则。通过对接触力分解,获得抓取内力的显性表达式,然后根据内力需满足摩擦锥约束的条件,将抓取内力摩擦锥约束转换为线性矩阵不等式约束,利用线性矩阵不等式约束的可行解对抓取的力封闭性问题进行判别。结合应用实例说明了该判别方法的计算过程。最后,在虚拟抓持实验平台上验证了该算法。实验结果表明:这种基于物理的定量的判别方法,增强了虚拟现实的真实感。Estimating whether virtual hand grasps virtual object stably is the prerequisite during the process of virtual operation.Based on the theory of robot′s hand grasp,virtual hand grasp rule based on force closure is presented.We acquire the expression of grasp internal force by decomposing the contact force.According to the condition that the internal force should satisfy friction cone constraints,we change the friction cone constraints of grasp internal force into linear matrix inequalities（LMI） and formulate the grasp force closure problem as an linear matrix inequalities feasibility problem.We Illustrate the computation process of estimation.Finally,we give the experiment results to verify the proposed algorithm on virtual grasp platform.The experimental results show that this estimation method,which is quantitative and based on physics,enhances the reality of virtual reality.

关 键 词：抓持 力封闭 摩擦锥 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]