The contact point configuration should be carefully chosen to ensure a stable capture,especially for the non-cooperative target capture mission using multi-armed *** this work scenario,the contact points on the base a...
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The contact point configuration should be carefully chosen to ensure a stable capture,especially for the non-cooperative target capture mission using multi-armed *** this work scenario,the contact points on the base and on the arms are distributed on the opposite side of the ***,large forces will be *** cope with this problem,an uneven-oriented distribution union criterion is *** union criterion contains a virtual symmetrical criterion and a geometry *** virtual symmetrical contact point criterion is derived from the proof of the force closure principle using computational geometry to ensure a stable grasp,and the geometry criterion is calculated by the volume of the minimum polyhedron formed by the contact points to get a wide-range *** further accelerate the optimization rate and enhance the global search ability,a line array modeling method and a continuous-discrete global search algorithm are *** line array modeling method reduces the workload of calculating the descent direction and the gradient available,while the continuous-discrete global search algorithm reducing the optimization *** a highly efficient grasping is achieved and the corresponding contact point is ***,an exhaustive verification is conducted to numerically analyze the disturbance resistance ability,and simulation results demonstrate the effectiveness of the proposed algorithms.
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