同步三指式末端执行器的目标位姿估计方法  

Pose estimation method for a simultaneous three-fingered end-effector

作　　者：樊绍巍[1] 吴军 金明河[1] 樊春光 刘宏[1] FAN Shaowei;WU Jun;JIN Minghe;FAN Chunguang;LIU Hong(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080

出　　处：《哈尔滨工程大学学报》2019年第2期359-364,共6页Journal of Harbin Engineering University

基　　金：国家高技术研究发展计划(2015AA7046411);国家自然科学基金委员会创新研究群体科学基金项目(51521003)

摘　　要：为了在线判断机械臂末端执行器捕获过程中的目标位姿,本文采用接触力信息,提出了一种针对同步三指式末端执行器的目标位姿估计方法。在分析末端执行器几何约束特征的基础上,提出目标位姿估计方法。根据接触力判断接触手指,并结合末端执行器运动学分析结果,判断接触点位置和法向方向。利用两次有效接触信息,采用空间平面相交的方法,进行基于最少接触信息的位姿估计过程。当存在冗余接触信息时,采用最小二乘法对估计结果进行更新。通过仿真验证了估计方法的有效性。该估计方法适用于此类爪式末端执行器,具有一定的通用性。To determine the target pose in the process of end-effector capturing,this study develops a pose estimation method for a simultaneous three-fingered end effector based on contact force information.The pose estimation method is proposed after analyzing the geometric constraint characteristics of the end effector.First,the contact finger is estimated with the contact force.Then,the contact position and normal direction are estimated by combining the kinematic analysis results of the end effector.The spatial plane intersection method is adopted for pose estimation with two effective contact information.When obtaining redundant contact information,the least squares method is adopted to update the estimation results.Finally,simulation validates the effectiveness of the estimation method.The proposed method has general applicability to a certain extent and specific applicability to claw-shaped end effectors.

关 键 词：位姿估计 末端执行器 接触力信息 最小二乘法 对接捕获 同步三指式 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]