[1]樊绍巍,吴军,金明河,等.同步三指式末端执行器的目标位姿估计方法[J].哈尔滨工程大学学报,2019,40(02):359-364.[doi:10.11990/jheu.201705043]
 FAN Shaowei,WU Jun,JIN Minghe,et al.Pose estimation method for a simultaneous three-fingered end-effector[J].hebgcdxxb,2019,40(02):359-364.[doi:10.11990/jheu.201705043]
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同步三指式末端执行器的目标位姿估计方法(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
40
期数:
2019年02期
页码:
359-364
栏目:
出版日期:
2019-02-05

文章信息/Info

Title:
Pose estimation method for a simultaneous three-fingered end-effector
作者:
樊绍巍 吴军 金明河 樊春光 刘宏
哈尔滨工业大学 机器人技术与系统国家重点实验室, 黑龙江 哈尔滨 150080
Author(s):
FAN Shaowei WU Jun JIN Minghe FAN Chunguang LIU Hong
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
关键词:
位姿估计末端执行器接触力信息最小二乘法对接捕获同步三指式
分类号:
TP241
DOI:
10.11990/jheu.201705043
文献标志码:
A
摘要:
为了在线判断机械臂末端执行器捕获过程中的目标位姿,本文采用接触力信息,提出了一种针对同步三指式末端执行器的目标位姿估计方法。在分析末端执行器几何约束特征的基础上,提出目标位姿估计方法。根据接触力判断接触手指,并结合末端执行器运动学分析结果,判断接触点位置和法向方向。利用两次有效接触信息,采用空间平面相交的方法,进行基于最少接触信息的位姿估计过程。当存在冗余接触信息时,采用最小二乘法对估计结果进行更新。通过仿真验证了估计方法的有效性。该估计方法适用于此类爪式末端执行器,具有一定的通用性。

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备注/Memo

备注/Memo:
收稿日期:2017-05-19。
基金项目:国家高技术研究发展计划(2015AA7046411);国家自然科学基金委员会创新研究群体科学基金项目(51521003).
作者简介:樊绍巍,男,副研究员;刘宏,男,教授,博士生导师,长江学者特聘教授.
通讯作者:樊绍巍,E-mail:fansw@hit.edu.cn
更新日期/Last Update: 2019-01-30