基於物體未知干擾的多指最佳抓握力量控制

Object-Based Force Optimization for Multi-fingered Grasping with Unknown Disturbances

于楚泓(Chu-Hong Yu)

指導教授 ： 黃漢邦

國立臺灣大學/工學院/機械工程學研究所/碩士(2015年)

https://doi.org/10.6342/NTU.2015.10381

摘要

本篇論文目的是加強機器人在未知干擾狀況下抓取物體的能力。整個抓握的控制可分為三個步驟。第一，在物體存在未知干擾的情況下，產生一個能夠完成抓握和操控物體所需的穩定手掌接觸力。第二，通過優化計算出一組各個接觸手指的指尖接觸力，其合力即為所產生之手掌接觸力。第三，通過力量控制和力感測器之回饋，在NTU-Hand V中實現所計算之指尖接觸力。此手掌-手臂控制系統可運用到日常生活中，被操控之物體不容易被抓壞，操控的過程也更加強健。

關鍵字

抓握 ； 未知干擾 ； 最佳力 ； 力量控制

並列摘要

This thesis is aimed at improving the robot grasping with unknown disturbance. The whole grasping control is divided into three stages: first, generating a stable contact force for robot hand to grasp and manipulate an object with unknown disturbance; second, finding an optimized solution and distributing the resultant contact force to all contact fingers; and third, applying the optimized fingertip forces to a hand force controller with tactile sensor feedback. The integrated hand-arm system is robust to the manipulating process, and can be applied to the daily life task. Experiment of fastening a screw is conducted and the result is satisfactory.

並列關鍵字

Grasping ； Unknown Disturbance ； Force Optimization ； Force Control

參考文獻

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