三维可变形物体抓取建模与分析

L. Zaidi, B. Bouzgarrou, L. Sabourin, Y. Mezouar
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引用次数: 11

摘要

机器人抓取在过去的二十年中得到了广泛的研究。该领域的研究大多集中在刚体抓取上,很少考虑到可变形物体的抓取情况。然而,可变形物体的机器人抓取在生物医学加工、食品加工工业、服务机器人、机器人手术等各个领域都有许多潜在的应用。本文研究了用多指机械手抓取三维可变形物体的问题。采用非线性各向同性质量-弹簧系统对物体的变形行为进行建模。为了处理被操纵身体与机械手手指之间的相互作用,提出了一种接触模型。它是基于半球形指尖和网格接触面的每个面之间的力计算。定义了初始手指位形,实现了力闭合抓取,消除了被控物体的相对欧几里得运动,同时优化了抓取准则。沿着对可变形对象的拾取和放置操作,评估了几个抓取准则。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Modeling and analysis of 3D deformable object grasping
Robotic grasping has been extensively studied in the last two decades. Most of the researches in this field have been dedicated to rigid body grasping and only few of them have considered the case of deformable objects. Nevertheless, robotized grasping of deformable objects has many potential applications in various areas including bio-medical processing, food processing industry, service robotics, robotized surgery, etc. In this paper we address the problem of the grasping of 3D deformable object using a multi-fingered robotic hand. The deformable object behavior is modeled by using a non-linear isotropic mass-spring system. In order to deal with the interactions between the manipulated body and the robotic hand fingers, a contact model is proposed. It is based on force calculations between the hemispherical finger tips and each facet of the meshed contact surfaces. The initial fingers' configuration is defined so that a force closure grasping is obtained, which eliminates any relative Euclidean motion of the manipulated object, meanwhile, a grasping criterion is optimized. Several grasping criteria are evaluated along a pick and place operation on the deformable object.
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