摘要
为了获得多手指机器人动力学解析模型,解决(建模过程)由于系统质量矩阵奇异造成的系统运动方程无解问题,应用Udwadia-Kalaba建模理论,提出了一种新的针对手指机器人的扩展层级建模方法,获得了系统动力学解析模型,解决了手指机器人系统质量矩阵奇异时运动方程无解的问题;以二维三手指机器人为实例,应用扩展层级建模方法,建立了手指机器人和抓取对象组成的多刚体系统动力学解析模型;将三手指机器人的动力学模型进行数值仿真,仿真结果连续、收敛。研究结果表明:提出的建模方法可行、有效,可以快速、高效地建立多手指机器人的动力学模型,可以获得抓取力模型和手指关节力矩模型的解析形式,为进一步实现多手指机器人的力/位混合控制奠定了理论基础。
By using the Udwadia-Kalaba theory, this paper proposed an extended cascading modeling method for the multi-fingered hand robot. The problem of singular mass matrix is solved. The explicit dynamic model of the multi-fingered hand robot can be obtained. Taking the three-fingered hand robot as an example, this paper established the dynamic model of the system by the proposed method, which is composed by the hand robot and object. The numerical simulation results of the dynamic model were continuous and convergent. The results indicate that the extended cascading method could efficiently construct the dynamic model of the multi- fingered hand robot in the explicit form. The grasping force model and joint torque model lay the foundation of the force/position control for multi-fingered hand robot. 1 tab, 8 figs, 17 refs.
出处
《长安大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2015年第3期151-158,共8页
Journal of Chang’an University(Natural Science Edition)
基金
中央高校基本科研业务费专项资金项目(0009-2014G1251024)
国家科技支撑计划项目(2015BAF07B08)
