【摘要】 基于机械臂与工件的硬点和软指两种接触方式 ,对工件的受力进行分析 ,建立臂与工件保持接触应满足的约束条件 ;通过臂动力学方程和关节广义驱动力约束 ,给出多臂协调抓持力不等式约束 ;并对抓持力的分配进行初步讨论 .更多还原

【Abstract】 Force analysis for object grasped by multiple robotic arms is presented in this paper based on the two contact types of hard point and soft finger between robotic arm and object. The linear inequality constraint of contact force is obtained by using dynamic equation of robotic arm and joint generalized driving force constraint. A discussion of optimal contact force distribution is also included.更多还原