机器人手灵巧操作中变接触点的几何求解方法

灵巧手操作中的接触状态和接触点检测对应操作尤为重要,传统研究中,多采用分布式触觉压力传感器直接测量接触点和接触力,但其精度受触觉传感器单元分布密度影响较大,而将操作中接触点简化为固定接触点则会引入较大误差.本文分析了固定接触点模型的不足,分析了接触面轮廓曲线,以刚性接触为接触模型,从几何角度提出了一种不同位姿下灵巧手与被操作对象的变接触点的求解算法,实现不借用触觉传感器确定接触点,并通过MATLAB求解出一特定操作中接触点的变化规律.

Geometry resolving method for variable contact point in dexterous manipulation of robot hand

Detection of contact point and contact state is important in dexterous manipulation of robot hand. Distributed tactile sensor is used to measure contact point and contact force,even though it has the in-born drawback of discontinuity because of the distributed sensor unit,while assuming the contact point is fixed will bring large error in the manipulation. This paper first analyzes the shortcomings of a fixed contact point model,then we propose an algorithm to determine the moving contact point based on the relative geometric character of the robot finger's profile curve and the manipulated object's profile curve,thus the actual contact point can be solved without the use of a tactile sensor. And the change of contact point is obtained under a specific manipulation task using MATLAB.