符合要求的抓手的质量度量

Q. Lin, J. Burdick, E. Rimon
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引用次数: 26

摘要

本文提出了一种系统的方法来量化柔性夹具的质量。研究了物体位形空间的正切和余切子空间,并由此定义了帧不变的特征柔度参数。给出了这些参数的物理和几何解释,并提出了一种具有实际意义的参数比较方法。然后定义了一种帧不变的质量度量,并通过实例讨论了利用该质量度量进行抓取优化。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A quality measure for compliant grasps
This paper presents a systematic approach for quantifying the quality of compliant grasps. Appropriate tangent and cotangent subspaces to the object's configuration space are studied, from which frame-invariant characteristic compliance parameters are defined. Physical and geometric interpretations are given to these parameters, and a practically meaningful method is proposed to make the parameters comparable. A frame-invariant quality measure is then defined, and grasp optimization using this quality measure is discussed with examples.
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