Proceedings of the 2016 4th International Conference on Machinery, Materials and Computing Technology

Research on grasping forces optimization of a soft-finger dexterous hand

Authors
Peng Jia, Wei-li Li, Bo-wen Wu, Guo-chen Zhang
Corresponding Author
Peng Jia
Available Online March 2016.
DOI
https://doi.org/10.2991/icmmct-16.2016.210How to use a DOI?
Keywords
Soft-finger contact, linearizing, joint torque, the quadratic optimization.
Abstract
To contact constraints model of soft finger, replacing paired friction cones by linear paired polyhedral, so as to realize the linearization of contact constraints model. The linear constraints inequalities of grasping forces is derived, and the objective function of the smallest sum of output torque squares is built, so the torque optimization is translated into quadratic programming. By the simplex method, quadratic programming is solved quickly, greatly improve the real-time performance. At last, the effectiveness of proposed algorithm was verified in numerical simulation with grasping a plane object when there is a soft finger contact.
Open Access
This is an open access article distributed under the CC BY-NC license.

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Volume Title
Proceedings of the 2016 4th International Conference on Machinery, Materials and Computing Technology
Series
Advances in Engineering Research
Publication Date
March 2016
ISBN
978-94-6252-165-0
ISSN
2352-5401
DOI
https://doi.org/10.2991/icmmct-16.2016.210How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Peng Jia
AU  - Wei-li Li
AU  - Bo-wen Wu
AU  - Guo-chen Zhang
PY  - 2016/03
DA  - 2016/03
TI  - Research on grasping forces optimization of a soft-finger dexterous hand
BT  - Proceedings of the 2016 4th International Conference on Machinery, Materials and Computing Technology
PB  - Atlantis Press
SP  - 1060
EP  - 1066
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmmct-16.2016.210
DO  - https://doi.org/10.2991/icmmct-16.2016.210
ID  - Jia2016/03
ER  -