关键词: 精细抓取;力优化;强力抓取;阻抗控制

Abstract: Based on the force-closure and force-balance conditions, the grasping force optimization of precision grasp can be converted to a nonlinear programming problem. In order to solve the nonlinear programming, complex procedure is usually needed for the traditional methods. So a method implemented by the fmincon function based on sequential quadratic programming in Matlab optimization tool box is proposed. For power grasp, a simple but autonomous method is proposed. The joint impedance force control algorithm is adopted to limit the contact force to the maximum in the method. In order to validate the proposed methods, the simulation system of multi-fingered coordinated control is built in Simulink environment. The system is based on the control module generated in ADAMS software. The simulation results demonstrate that the target object can be stably grasped by the dexterous robotic hand whether the tasks are precision grasp or power grasp.

Key words: precision grasp;force optimization;power grasp;impedance force control