Research on grasping forces optimization of a soft-finger dexterous hand
- 10.2991/icmmct-16.2016.210How to use a DOI?
- Soft-finger contact, linearizing, joint torque, the quadratic optimization.
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.
- © 2016, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
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 - 10.2991/icmmct-16.2016.210 ID - Jia2016/03 ER -