机器人多指抓取最优规划的研究现状和发展趋势  

A Review of Optimal Grasp Planning for Multi-fingered Robotic Hands

作　　者：孙瑛[1] 苗卫 李公法[1] 孔建益[1] 蒋国璋[1] 熊禾根[1] 郭永兴[1] 何洋[1] 李贝[1] 

机构地区：[1]武汉科技大学机械自动化学院,湖北武汉430081

出　　处：《长江大学学报（自科版）（上旬）》2016年第1期60-64,5,共5页JOURNAL OF YANGTZE UNIVERSITY (NATURAL SCIENCE EDITION) SCI ＆ ENG

基　　金：国家自然科学基金项目(51575407)

摘　　要：对机器人多指抓取最优规划的研究现状进行综述。为了对多抓取进行定性分析,首先介绍了抓取的接触模型,分析了抓取的形封闭和力封闭问题,并提出了抓取的稳定操作条件,为稳定抓取提供了基础。介绍了多指手抓取点位置规划方法,如基于几何分析的方法、基于人工智能的方法和基于目标函数的方法。将抓取力规划方法分为接触力空间的抓取力优化和关节力矩空间的抓持力优化。最后讨论了该领域的问题和未来发展趋势。This paper gives an overall review of optimal grasp planning of multi-fingered hands.In order to analyze the multi-fingered grasp qualitatively,the contact models for common use are introduced and form closure and force closure are analyzed,then stable operation conditions of grasping are also proposed.it provides a basis for stable grasping and also the method for planning the position of multi-fingered grasping is introduced,such as the method based on geometric analysis and the methods of artificial intelligence based and objective function based.The planning of grasping force is divided into optimization of grasping force in contact force space and optimization of grasping force in joint torque space.At the end of the paper,a research challenges and development in the future are highlighted and discussed.

关 键 词：多指抓取 形封闭 力封闭 抓取规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]