Grasping Torque Optimization for a Dexterous Robotic Hand Using the Linearization of Constraints

摘要

A new algorithm is proposed for the optimization of grasping torques. Previous work revealed that the optimization of the contact force can be simplified as a linear programming problem by replacing the nonlinear friction cone with a polyhedral cone. On this basis, further simplification and linearization is completed for various grasp contact constraints of the grasping system, and an optimization model is established with the minimum sum‐of‐squares of joint torques as an objective function. A timely and effective algorithm based on key constraint sets is then established. This methodology optimizes the joint torque directly and facilitates the control of the dexterous hand. A numerical example and experimental results show that the optimization algorithm has high precision and good real‐time performance. The joint torque output obtained using the proposed algorithm was 27.6% lower than the result of the previous algorithm. The optimization algorithm can thus be used for optimal grasping control of a dexterous hand.