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A two-step method for 4-pin form-closure gripper with grasping force optimization

文献类型：期刊论文

作者Li, Rui1; Li, Yinlin2; Su, Xiaojie1
刊名ASIAN JOURNAL OF CONTROL
出版日期2021-04-15
页码8
ISSN号1561-8625
关键词4‐ pin gripper form closure grasping force control
DOI10.1002/asjc.2545
通讯作者Su, Xiaojie(suxiaojie@cqu.edu.cn)
英文摘要Grasp planning and the grasping force optimization are challenging issues associated with the dexterous robotic hand grasping problem. To ensure a safe, fast, and stable grasp for robots, careful determination of the grasping points and the grasping forces is required. The former creates an open question because of the availability of multiple solutions. The latter is formulated as a problem for minimizing an objective function subject to form-closure constraints and balance constraints of external forces. In this work, we propose a novel approach for the grasping force optimization of the 4-pin environmental constraint-based form-closure grasp using dynamic neural networks. To find a form-closure grasp, we propose an environmental constraint-based algorithm and convert it to a problem of finding the local minima of a constraint region, resulting in an easy determination of the grasping points with the guarantee of grasping safety. To satisfy the grasping force limit of the contact points, we solve the grasping force optimization problem with friction constraint, which maximize the efficiency of the applied force and power of the dexterous hand. The proposed approach is evaluated with 4-pin gripper, and the result demonstrates that we can plan a safe, fast, and stable grasp from any initial state to a form-closure grasping state.
资助项目Key-Area Research and Development Program of Guangdong Province[2020B0909020001] ; National Natural Science Foundation[61702516] ; National Natural Science Foundation[62003059] ; National Natural Science Foundation[51705515] ; China Postdoctoral Science Foundation[2020M673136] ; National Natural Science Foundation of China (NSFC)[U1713201]
WOS研究方向Automation & Control Systems
语种英语
出版者WILEY
WOS记录号WOS:000640195900001
资助机构Key-Area Research and Development Program of Guangdong Province ; National Natural Science Foundation ; China Postdoctoral Science Foundation ; National Natural Science Foundation of China (NSFC)
源URL[http://ir.ia.ac.cn/handle/173211/44242]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
通讯作者Su, Xiaojie
作者单位1.Chongqing Univ, Sch Automat, Chongqing 400040, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Li, Rui,Li, Yinlin,Su, Xiaojie. A two-step method for 4-pin form-closure gripper with grasping force optimization[J]. ASIAN JOURNAL OF CONTROL,2021:8.
APA Li, Rui,Li, Yinlin,&Su, Xiaojie.(2021).A two-step method for 4-pin form-closure gripper with grasping force optimization.ASIAN JOURNAL OF CONTROL,8.
MLA Li, Rui,et al."A two-step method for 4-pin form-closure gripper with grasping force optimization".ASIAN JOURNAL OF CONTROL (2021):8.

入库方式： OAI收割

来源：自动化研究所

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