CN1285449C - Polygonal-target multi-finger grab planning method and apparatus - Google Patents

Polygonal-target multi-finger grab planning method and apparatus Download PDF

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CN1285449C
CN1285449C CN 03151424 CN03151424A CN1285449C CN 1285449 C CN1285449 C CN 1285449C CN 03151424 CN03151424 CN 03151424 CN 03151424 A CN03151424 A CN 03151424A CN 1285449 C CN1285449 C CN 1285449C
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gripping
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CN1528571A (en
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吴玉光
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上海大学
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Abstract

本发明涉及一种机器人灵巧手多指抓取规划方法与装置。 The present invention relates to a multi-fingered dexterous hand grasp planning method and apparatus. 本抓取规划的步骤是:由图像获取与处理器利用数字摄像机获取目标的图像,并将其转化成便于计算机表示的三维实体图形,最后输出的是抓取平面上的多边形。 Step grasp planning is present: acquired by the image processor using a digital camera acquires an image of the target, and converts it to facilitate three-dimensional solid representation of the computer graphics, the final output crawl polygonal plane. 然后由抓取规划器确定四手指的抓手对工件的全部可行的抓取方案,并确定最佳抓取方案输出给控制与驱动器来控制驱动多指抓手实现抓取工作。 Four gripper fingers then determines all possible solutions to the workpiece by the gripping gripper planner, and determine the best-crawling outputted to the control and drive means for driving a plurality of control lever for gripping the work. 其装置由图象获取与处理器、抓取规划器、控制与驱动器和多指灵巧手手组成。 Which is acquired by the image processor means, gripping planner, driver control and multi-fingered hand to hand composition. 本发明的多指抓取规划,能够使拟人机器人具有对各种形状的物体的灵巧操作和精确的力控制和运动控制能力,实现类人行为。 The present invention refers to a multi grasp planning allows the humanoid robot having a dexterous handling of various shaped objects and accurate force control and motor control, to realize human-like behavior.

Description

多边形对象多指抓取规划方法与装置 Multi-fingered gripping polygon object programming apparatus and method

技术领域 FIELD

本发明涉及一种多指抓取规划方法与装置,特别涉及一种多边形对象的多指抓取规划方法及装置。 The present invention relates to a multi-finger grasp planning method and apparatus, particularly to a multi-polygon object gripping means programming method and apparatus.

背景技术 Background technique

人们在对智能机器人的研究中,把拟人机器人作为机器人研究的最高境界,也一直把实现类人行为作为梦寐以求的目标。 People in the study of intelligent robot, the anthropomorphic robot as the highest state of robotics research has been the realization of human-like behavior as the target dream. 具有精细操纵能力且在结构与功能上模仿人手的多指灵巧手,是机器人研究领域最复杂、最关键的研究内容。 Has the ability to maneuver and imitate fine hand of multi-fingered hand, it is the most complex field of robotics research, the most critical research on the structure and function. 目前,多指灵巧手已在世界各地研制成功,具有位置和力感知能力,可实现灵巧抓持和操作。 Currently, multi-fingered hand has been developed around the world, with location awareness and power, enabling smart grip and operate.

但是,机器人多指灵巧手的手指运动的控制与操纵还处于人机交互阶段,通常是使用人员通过佩戴上具有多个传感器的数据手套后,通过数据手套中手指的动作,利用计算机网络,实现对灵巧手进行远距离控制操作。 However, multi-fingered robotic hand dexterity finger movement control and manipulation is still in the interactive phase, typically by the use of personnel data glove having a plurality of sensors worn on the finger by the operation of the data glove, using a computer network, hand dexterity for remote control operation. 目前的多指灵巧手还仅仅是人手的机械延伸,还不能脱离人而独立完成基本的动作控制与操作。 The current multi-fingered hand just the mechanical stretching of the hand, from the person who can not independently control the operation of the basic operation. 因此,多指灵巧手的多指抓取规划方法对拟人机器人的应用与研究十分关键,多指抓取规划也是人工智能技术的标志性应用领域之一,该技术一经突破,就能够使得拟人机器人具有对各种形状的物体的灵巧操作和精确的力控制与运动控制能力,实现类人行为。 Therefore, multi-fingered hand of multi-finger application and study of the anthropomorphic robot's grasp planning method is very critical, multi-fingered grasp planning is one of the landmark application of AI technology, the technology was a breakthrough, it is possible to make humanoid robot a dexterous handling an object having various shapes and accurate force control and motor control, to realize human-like behavior.

发明内容 SUMMARY

本发明的目的在于提供一种多边形对象多指抓区规划方法及装置,对于具有四个手指的多指灵巧手抓取多边形对象时,能自动确定以最佳抓取方案进行抓取操作,实现多指灵巧手抓取多边形的智能化操作。 Object of the present invention is to provide a multi-polygon object finger grip region planning method and apparatus, having four fingers for dexterous hand when gripping finger multiple polygon object can be determined automatically fetch operation to fetch the best solution to achieve multi-fingered hands grasping polygon intelligent operation.

在机器人多指抓取规划中,形封闭是判断机器人多指抓取方案合理性的基本准则,满足形封闭要求的手指在被抓取对象的接触位置,就能够保证被抓取物体的稳定和平衡。 In multi-fingered gripping robot programming, the determination of the robot is a multi-form closure means gripping the basic criteria of reasonable solutions to meet the requirements of form closure fingers gripping the object in the contact position, it is possible to ensure the stability and the object being grasped balance. 在这种布置形式下,作用在被抓取物体上的任何外部干扰力都能够被与物体接触的机械手手指承受。 In this robot finger arrangement, any external disturbance force acting on the object to be grasped can be in contact with the receiving object. 对于平面对象的无摩擦抓取问题,通常只需要四个手指经过适当布置就可以达到形封闭要求。 For non-planar object gripping friction problem, usually only four fingers appropriately shaped closure arrangement can achieve the requirements.

本发明公开一个平面多边形对象的保证形封闭的多指抓取规划方法,即具有四个手指的多指灵巧手的手指在工件的抓取边界上的分布位置的自动规划和控制问题。 The present invention discloses a planar shaped closed polygon object is to ensure multi-finger grasp planning method, i.e. having a multi-finger automatic programming and control of the distribution of the position of the finger on the dexterous hand gripping border workpiece four fingers. 本发明的抓取对象为一种棱柱形形状的工件,即工件的抓取表面是垂直于抓取平面的平面、工件的所有抓取点位于同一个平面上。 Gripping the object of the present invention is a prismatic shape of the workpiece, i.e. gripping surface of the workpiece gripping plane which is perpendicular to the plane of all points gripping a workpiece located on the same plane. 根据形封闭要求,不考虑手指与被抓取对象接触处的摩擦力。 The form closure requirements, without regard to the fingers gripping the object with the frictional force at the contact.

本发明的构思是:瞬心三角形概念对形封闭要求做了一种新的几何解释,即利用瞬心三角形概念来建立满足形封闭要求的四个手指与多边形的位置关系的表示方法。 Concept of the present invention are: the concept of instantaneous heart-shaped closed triangles required to do a new geometric explanation, namely the use of triangles to create instantaneous center concept representation of the positional relationship of four finger-shaped closed polygon satisfies the requirements. 并根据这种表示方法确定四个手指在任意多边形对象上的接触区域,每一个手指的接触区域都有独立性,即每一个手指在自己的区域的独立移动都可以保证与其余三个手指一起构成形封闭的抓取方案。 This representation is determined according to the contact area of ​​four fingers on any object polygon, the contact area of ​​each finger has independence, i.e., independent movement of each finger in its area can be guaranteed along with the remaining three fingers shaped configuration closed-crawling.

下面对相关的理论作介绍:1.瞬心三角形的定义及其性质点与平面图的接触问题可以用瞬心三角形的特性来描述。 The following description of the relevant theory as: 1. Problem definition and properties of the contact point and the instantaneous center of the triangle in plan view can be described by characteristic instant center of the triangle. 瞬心三角形是用多指手中任意三个手指对工件的接触力的方向线的交点形成的一个三角形。 Instantaneous heart triangle is a triangle with the intersection of a multi-finger hand direction of a line of any three finger contact force to the workpiece is formed. 瞬心的概念来自于平面运动学,瞬心是指两个做相对运动的对象的瞬时同速点,如果其中一个对象是固定的,则瞬心是另一个对象的瞬时转动中心。 Concept instant center from the plane kinematics, instantaneous center refers to the instantaneous relative motion of the two objects at the same speed point, wherein if an object is stationary, the instantaneous center is another object of the instantaneous center of rotation. 三个手指的两两组合存在三个瞬心。 Combinations of two three fingers there are three instantaneous center. 瞬心三角形具有下列性质:·瞬心三角形的边具有方向性,其正向与该边所在的接触力方向相同。 Instantaneous center of the triangle has the following properties: · instant center directional sides of a triangle, the same positive direction of the contact force where the edges.

·瞬心三角形的同向边和异向边。 · Instantaneous center of the triangle with the side to side and different. 如果瞬心三角形的两条边对三角形内部任意一点的矩的方向相同,则称这两条边为同向边,另一条边称为异向边。 If the two sides of the triangle on the instantaneous center direction inside the triangle any moment the same point, called the two sides of the same side, the other side edge is called anisotropy.

·瞬心三角形具有两种形态:三条边均同向的瞬心三角形和两条同向边、一条异向边的瞬心三角形。 · Instantaneous center of the triangle has two forms: three sides of the triangle are the same instant center and the two edges of the same direction, a different side of the instantaneous center of the triangle.

·对于两条同向边的瞬心三角形,异向边的正向一定在两条同向边的正向所夹的扇形范围内。 • For the instant center with the two triangle sides, the forward side of the different constant within the range of two sectors with the forward edge sandwiched.

2.根据瞬心三角形性质确定第四个手指满足形封闭要求的位置范围在不考虑手指与被抓取物体间的摩擦的情况下,利用瞬心三角形可以确定第四个手指接触点在保证抓取平衡(满足形封闭要求)条件下的相对于瞬心三角形的位置。 2. Determine the fourth finger to meet the requirements according to a triangular-shaped closed nature of the instantaneous center position range without considering the friction between the finger and the object being grasped, the triangle may be determined using the instantaneous center of the fourth finger of the point of contact to ensure grip take equilibrium (closed shape to meet the requirements) under the conditions of position relative to the instant center of the triangle. 以下给出满足形封闭条件的第四个手指的接触力方向和位置条件有关的两个定理。 The following two theorems satisfies given conditions form-closed contact force direction and in the fourth position of the finger related conditions.

定理1:对于两条同向边的瞬心三角形,第四个手指的接触力的方向线位置必须与瞬心三角形的两条同向边相交,接触力的方向必须在两条同向边的负方向所围成的扇形内。 Theorem 1: For the same two, the position of the line direction of the contact force of the fourth finger to be in the same direction two edge instant center intersects with the triangle to the triangle side instantaneous center, have the same direction of the contact force at the edge of two the negative direction surrounded fan.

定理2:对于三条边均同向的瞬心三角形,第四个手指的接触力的方向线位置不能与瞬心三角形的任何边相交。 Theorem 2: For the three sides are instantaneous heart triangle in the same direction, the direction of the contact force line position of the fourth finger of the triangle and not any instant center intersects the edge. 第四个手指的接触力的方向条件:接触力的正向关于瞬心三角形内部一点的矩的方向必须与瞬心三角形任何边关于同一点的矩的方向相反。 The contact force direction condition fourth finger: the forward direction of the moment about the instantaneous center of the triangle inside the contact force that must in any triangle side instantaneous center with respect to the direction that is opposite moments.

为达到上述目的,本发明采用如下技术方案:一种多边形对象多指抓取规划方法,其特征在于抓取规划的步骤是:a.由图象获取与处理器摄取棱柱形形状工件的图象,并处理转化为便于计算机表示的三维实体图形,最后输出抓取平面上的多边形;b.由抓取规划器确定四个手指的灵巧手关于给定工件的全部可行的抓取方案,并确定最佳的抓取方案;c.由抓取规划器输出最佳抓取方案的手指位置信号给手指抓手的控制与驱动器实行抓取工作。 To achieve the above object, the present invention adopts the following technical solutions: A multi-polygon object gripping means planning method, wherein the step of gripping plan is:. A processor acquired by the image pickup picture prismatic shape of the workpiece , and ease of processing into three-dimensional solid representation of the graphics computer, the final output gripping polygonal plane;. b determined dexterous hand four fingers all possible solutions for a given workpiece gripping by the gripper planner, and determines best fetch program;. C to carry out the work gripping finger grip control and drive by the gripper finger position signal output planning the best-crawling.

上述的抓取器规划确定可行抓取方案的步骤为:a.用多指灵巧手中任意三个手指对工件工作接触力方向线的交点形成一个瞬心三角形;b.根据瞬心三角形确定第四个手指在工件多边形上满足形封闭要求的位置范围。 The above-described step of determining feasible planning gripper for gripping the program: a multi-fingered intersection with any of the three finger dexterity in the hands of the work piece contact force direction form an instantaneous center line of the triangle; B instantaneous center is determined according to a fourth triangle. fingers on the workpiece form a closed polygon satisfies the requirements of a range of positions.

上述的根据工件的多边形确定第四个手指在多边形上的满足形封闭要求的接触位置范围的步骤为:a.判断边界四元组是否存在满足形封闭要求的抓取方案;b.对于存在满足形封闭要求的抓取方案的4条抓取边,建立可行的抓取方案,其步骤为:(a)根据前三条边以及其上的两个端点处的内法线所组成的具有两条同向边的瞬心三角形,确定第4条边上的可行抓取区段;(b)确定一条异向边所对应的抓取边上满足形封闭要求的抓取位置区段;(c)确定两条同向行边所对应的抓取边上满足形封闭要求的抓取位置区段c.根据手指空间位置分布情况和手指接触力的大小保持均衡条件,确定满足形封闭要求的四条抓取位置区段上的最佳抓取位置。 It said polygonal workpiece the step of determining the contact position range of the fourth finger on the polygonal shape to meet the requirements of the closure according to: a quad boundary is determined whether there is a closed form solutions to meet the requirements gripping; b. Satisfied for the present. shaped gripping claim 4 closed gripping edges embodiment, to establish a viable gripping embodiment, the steps of: (a) having two sides and a front inner three normals at the two end points thereof consisting of with the triangle side instantaneous center to determine the feasibility of four sides of the gripping section; (b) determining a different gripping edges corresponding to the edge shape to meet the requirements of the closed position of the gripping section; (c) determining two sides of the row with the corresponding gripping edge shaped to meet the requirements of the closed position gripping section c. Hold equilibrium conditions in accordance with the size of the spatial position of the finger and the finger contact force distribution is determined to meet the four requirements form-closed grip the best gripping position is the position on the segment.

上述的判断边界四元组是否存在满足形封闭要求的抓取方案的步骤为:a.选择三条抓取边,用每一条边上两个端点处的内法线构造8个具有两条同向边的瞬心三角形,若不能构造出同向边的瞬心三角形,则该边界四元组不存在满足形封闭要求的抓取方案;b.若第四条边满足以下两个条件,则这第四条边存在满足形封闭条件的抓取方案:(a).方向条件:第四边的内法线与瞬心三角形的异向边正向之间的夹角大于90度;(b).位置条件:若8个瞬心三角形中至少一个以上的瞬心三角形的两条同向边在第四条边上的投影的交非空。 Said step of determining whether there is a boundary quad-crawling meet the requirements of a closed shape:. A Select three gripping edges, with the structure having two to eight with the normals of the two end points at each side of a triangle side instantaneous center, if not constructed with the instant center of the triangle sides, the boundary quad-crawling not meet the requirements of present-shaped closure; B if the following two conditions are satisfied fourth side, then this. form-closed condition that satisfies the fourth side gripping scheme: (a) direction condition: the normal instant center with the fourth side of the triangle is greater than 90 degrees different to the angle between the forward edge; (b). location condition: If eight triangles instantaneous center of at least two or more of a triangle with the instant center to the non-empty cross-projection side of the fourth edge.

上述的确定边界四元组第4条边上满足形封闭要求的可行抓取区段的方法为:所有瞬心三角形的两条同向边在第4条抓取边上投影的交之和,就是第4条边上能保证形封闭条件的可行抓取区段。 Feasible gripping section determines boundary of the quad-shaped article 4 closed sides meet the requirements as follows: All instant center with two triangles to grab the edge of the projection and the edges of the cross in section 4, Rule 4 is shaped to ensure confinement sides feasible gripping section.

上述的确定异向边上满足形封闭要求的抓取位置区段的步骤为:a.先对抓取边进行命名:对于能够形成瞬心三角形的边界四元组,命名瞬心三角形的异向边所在的多边形边界为E2,两条同向边所对应的抓取边分别命名为E1和E3,具体根据在两条边的内法线的交点相对于瞬心三角形两条同向边的位置确定,若交点是同向边的起点,则与该同向边重合的内法线所在的抓取边为E3,另一条边为E1,否则为E,另已条边为E3,第4条边为E4;b.确定瞬心三角形异向边所对应的抓取边上满足形封闭要求的抓取位置区段的方法为:(A).用E1、E2和E3的起点位置处的内法线构造瞬心三角形,求出E2的起点位置的内法线n2与E1、E3起点位置内法线n1、n3的交点J21、J23,求出E2起点位置内法线n2与E4的内法线n4的交点J42;(a)若交点J21、j23与交点J31分别位于n4的两侧,则E2从起点位置到终点 Step gripping position of the section is determined to meet the different requirements to form a closed rim of:. A first edge crawling named: to be able to form a boundary quad instant center triangle, triangle instantaneous center named anisotropy the polygon boundary edge is located E2, with the two sides of the corresponding gripping edges are designated E1 and E3, as per the normal line at the intersection of the two sides of the triangle with respect to the instant center position to the two sides of the same OK, if the intersection is crawling with the starting point edge, then coincident with the edge of the same side as where within the normal E3, the other side is E1, otherwise E, another has edges as E3, Article 4 side of E4; b gripping edge determining instantaneous center triangular sides corresponding to the different process sections form a closed gripping position to meet the requirements of: (a) with the E1, the start position at E2 and E3. normal instantaneous center triangular configuration, and obtains the normal line n2 E1 E2 of the start position, the starting position E3 normal n1, n3 intersection point J21, J23, and E4 to obtain n2 normal starting position in the process E2 n4 intersection of line J42; (a) if the intersection of the J21, J23 and J31 are located on both sides of the intersection point n4, the E2 from a start position to an end point 置均为可行的形封闭抓取区段;J31是E1的起点位置法线n1与E3起点位置内法线n3的交点; Are feasible opposed gripping section shaped closure; J31 normal line n1 is the start position start position E1 and E3 n3 intersection of the normal line;

(b)否则沿E2的正向移动n2,使n2与n1和n3的交点J21、J23与交点J31分别位于n4的两侧,则n2从当前位置移动直至E2边的终点,这一区段就满足形封闭要求的第一个可行区段;n4的可行位置也是从当前位置到E4边的终点;(c)如果移动n2后不能使得J21、J23与交点J31恰好位于n4的两侧,说明包含起点极限位置交点的瞬心三角形不存在;或者;(B).用E1、E2和E3的终点位置处的内法线构造瞬心三角形,求出E2终点极限位置法线与E1、E3终点位置内法线n1、n3的交点J21'、J23',求出E2起点位置内法线n2和E4内法线n4的交点J42;(a).若交点J21'、J23'与交点J31'分别位于n4的两侧,则E2从终点到起点均为可行的形封闭抓取区段;J31'是E3终点位置内法线n3与E1终点内法线n1的交点;(b).否则沿E2的终点指向起点位置方向移动n2,使得J21'、J23'与交点J31'恰好位于n4的两侧,则从n2的当前位置开始到E2的 (B) moving forward or E2 direction n2, n3 and n1 and n2 so that the intersection point J21, J23 and J31 are located on both sides of the intersection of n4, n2 is moved from the current position until the end E2 side, this section will the first form closure possible to meet the requirements of section; n4 is also possible position from the current position to the end edge E4; (c) can not be moved such that if J21 n2, J23 and J31 intersection just located on both sides of n4 described comprising starting position of the intersection limit instantaneous center triangle does not exist; or;. (B) with E1, the normal triangular configuration instant center at the end point E2 and E3, E2 is obtained with normal end limit position E1, E3 end position the normal line n1, n3 intersection point J21 ', J23', n2, and obtains the normal starting position E2 E4 within normal n4 of intersection J42;. (a) If the intersection point J21 ', J23' intersections J31 'are located n4 sides, then from the end E2 to the origin are feasible shaped gripping portion closed; J31 'E3 is the normal end position E1 of the inner end normal n3 n1 intersection point; (b) otherwise, the edge E2. start point of the end point n2 direction, so that the J21 ', J23' intersections J31 'just located on both sides of n4, n2 from the current position to the E2 起点位置,这一区段均为E2的形封闭接触点的可行抓取区段;(c).若移动n2后不能使得J21'、J23'与交点J31'恰好位于n4的两侧,则说明包含终点极限交点的瞬心三角形不存在。 Starting position, the sector-shaped contact points are closed E2 feasible gripping section;. (C) If the movement is not such that n2 J21 ', J23' intersections J31 'n4 is just located on both sides, then instantaneous center of the triangle contains the intersection of end limit does not exist.

上述的确定同向边所对应的抓取边上满足形封闭要求的抓取位置区段的方法为:过J42点作E1和E3的垂线,得相应的垂足P1、P3,折线P1-J42-P3可能将E1和E3分成两部分,折线P1-J42同样也将E2和E4上的内法线n2与n4分成两部分,在这两部分上均存在可行的抓取位置区段:a.折线P1-J42-P3剖开的平面区域中包含E2的部分:E3中n3可行抓取区段:E3中被折线P1-J42-P3剖开而所余下的部分;E1中n1可行抓取区段:P1'-P1”,其中P1'位置的确定:对于E3上任意给定接触点的内法线n3,P′的位置为n3当前位置与n4的交点在E1上的投影点,P″的位置为E1的端点或P1;b.折线P1-J42-P3剖开的平面区域中包含E1的部分:E1中n1的可行抓取区段:从E1被折线P1-J42-P3剖开的部分; Gripping position determining section of the same methods described above to the corresponding side edge of the gripping meet the requirements for the form-closed: as perpendicular point J42 through E1 and E3, to give the corresponding foot of P1, P3, polyline P1- J42-P3 E1 and E3 may be divided into two parts, folding lines P1-J42 also on the inner normal line n2 and n4 E2 and E4 divided into two parts, the presence of both viable section gripping position on these two parts: a . P1-J42-P3 taken in the plane area of ​​the fold line portion comprises the E2: E3 n3 possible in the gripping sections: E3 being the remaining part of the fold lines P1-J42-P3 taken; E1 n1 feasible in gripping section: P1'-P1 ", where P1 'position is determined: the E3 for any given point of contact within the normal n3, P' location n3 n4 current position of the intersection point is projected on the E1, P "E1 endpoint location or P1; b P1-J42-P3 taken in the plane area of ​​the fold line portions E1 contains:. in E1 n1 feasible gripping section: E1 from the fold line P1-J42-P3 taken part;

E3中n3的可行抓取区段:P3'-P3”,其中P3'位置的确定:对于E1上任意给定接触点位置的内法线n1,P3'为n1的当前位置与n4的交点在E3的投影点;P3”的位置为E3的端点或P3。 E3, n3 feasible gripping section: P3'-P3 ", wherein the" determination of the position: For any given E1 on the contact point of a normal line n1, P3 'P3 n4 at the intersection of the current position n1 a projection point E3; P3 "E3 endpoint location or P3.

上述的确定最佳的抓取方案的方法是:以手腕运动幅度、手指运动幅度,手指接触点向对位置和手指接触力相对大小为评价指标,从全部可行的抓取方案中找出最佳抓取方案。 The method of determining the optimum gripping embodiment is: the amplitude of motion of the wrist, finger motion amplitude, finger contact point to the position and size of the finger contact force relative evaluation, from all the possible schemes to find the best gripping crawling scheme.

一种用于多边形对象多指抓取规划方法的装置,包括一个控制与驱动器控制驱动一个多指灵巧手,其特征在于有一个图象获取与处理器的输出连接一个抓取规划器的输入,抓取规划器的输出连接控制与驱动器的输入。 A method for a multi-polygon object grasp planning method refers to a device comprising a control and drive control of a multi-fingered hand drive, characterized in that there is a connection to the output image acquires a grasp planning the input processor, grasp planning output connected to the control input of the driver.

本发明与现有技术相比,具有如下显而易见的突出特点和显著优点:本发明采用图象获取与处理器摄取棱柱形形状工件的图象,并处理后输出抓取平面上的多边形给抓取规划器,抓取规划器进行抓取规划并确定最佳的抓取方案,从而输入给控制与驱动器,来控制驱动多指灵巧手,实现多指灵巧手指抓取多边形对象的智能化操作。 Compared with the prior art the present invention has the following prominent features and obvious significant advantages: the present invention uses the image processor obtains the image pickup prismatic shape of the workpiece, and outputs the processed polygon plane to fetch fetch plan, a gripper for gripping planner gripping plan and determine the best scheme, so that the input to the drive control to drive a multi-fingered hand controls, multi-fingered gripper finger polygon object intelligent operation. 本发明的多指抓取规划,能够使拟人机器人具有对各种形状的物体的灵巧操作和精确的力控制和运动控制能力,实现类人行为。 The present invention refers to a multi grasp planning allows the humanoid robot having a dexterous handling of various shaped objects and accurate force control and motor control, to realize human-like behavior.

附图说明 BRIEF DESCRIPTION

图1是本实施例的装置结构方框图。 FIG. 1 is a block diagram showing apparatus according to the present embodiment.

图2是图1示例的抓取规划器的工作程序图。 FIG 2 is a view of a crawler planner example of procedures of FIG.

图3是由三个接触点形成的瞬心三角形。 FIG 3 is instantaneous center triangle formed by three points of contact.

图4是具有两条同向边的瞬心三角形及其四个手指的接触点位置关系图图5是具有三条同向边的瞬心三角形及其四个手指的接触点位置关系图图6是三条抓取边构成的瞬心三角形图图7是确定第四条边可行抓取接触点区段的图图8是确定异向边的可行抓取接触点区段,以三条抓取边的起点位置内法线建立瞬心三角形的求解图。 Figure 4 is a directed edge with two instantaneous center contact point and the triangular relationship of FIG. 5 having four fingers with relation to the three sides of the triangle and the instant center position of the contact points of the four fingers FIG 6 is three gripping side view instantaneous center of the triangular configuration of FIG 7 is to determine the point of contact gripping edge feasible fourth segment 8 is feasible to determine the different sides of the gripping section of the contact point to the starting point of three gripping edges solving FIG establish normal instant center position within the triangle.

图9是确定异向边的可行抓取接触点区段,以三条抓取边的终点位置内法线建立瞬心三角形的求解图。 FIG 9 is feasible to determine the different sides of the contact point gripping section for gripping three sides of the inner end position to establish a normal instant center solving triangles in FIG.

图10、图11、图12和图13是确定同向边的可行抓取接触点区段的求解图。 FIG 10, FIG 11, FIG 12 and FIG 13 is determined to solve possible to fetch the same side of the contact point sections.

具体实施方式 Detailed ways

本发明的一个优先实施例是:参见图1,本多边形对象多指抓取规划方法的装置,包括一个控制与驱动器3控制驱动一个多指灵巧手4,有一个图象获取与处理器1的输出连接一个抓取规划器2的输入,抓取规划器2的输出连接控制与驱动器3的输入。 A preferred embodiment of the present invention: Referring to Figure 1, the present multi-polygon object grasp planning method refers to a device comprising a control and drive controls the drive 3 a multi-fingered hand 4, there is an image processor 1 acquires an input connected to the output 2 of grasp planning, grasp planning input connected to the control output of the driver 2 to 3.

参见图1,本多边形对象多指抓取规划的方法是:由图像获取与处理器1利用数字摄像机获取目标的图像,并将其转化成便于计算机表示的三维实体图形,最后输出抓取平面上的多边形。 Referring to Figure 1, the present multi-polygon object is a finger grasp planning method: acquiring an image acquired using a digital camera with a processor from the target image, and converted into three-dimensional solid facilitate graphical computer representation, the final output gripping plane polygons. 抓取规划器根据图像获取与处理器1送来的多边形和多指灵巧手的具体几何尺寸产生抓取方案,其键盘输入抓取约束、质量评价指标等体现用户要求的信息,最后输出最佳抓取方案给控制与驱动器3来控制驱动多指抓手4。 Planner generates crawler to crawl according to embodiment acquires image processor 1 and sent multi-fingered hand polygonal specific geometry, which gripping keyboard input constraints, and other quality evaluation information reflects the user's requirements, the best final output the control program to fetch the driver controls the drive 3 to 4 multi-fingered grip.

为了说明抓取规划器2的工作,先对图3-图13作较详细的说明:图3解释由三个接触点形成的瞬心三角形,图中的三个小圆圈表示三个手指,虚线表示抓取对象的平面轮廓,实线表示平面轮廓上可抓取的边界,大写字母A、B、C表示手指与多边形的接触位置,小写字母a、b、c就是三个手指与工件的接触力方向线(即工件边界上手指接触点处内法线)所形成的瞬心三角形。 To illustrate crawler planner 2, to be described in more detail in Figure 3 - Figure 13: Figure 3 illustrates instantaneous center of the triangle formed by the three points of contact, the figure showing three fingers three small circles, dashed line represents the gripping plane contour of the object, a solid line indicates the boundary plane contour graspable, capital letters a, B, C represents the position of the finger in contact with the polygon, lower case letters a, b, c is three fingers in contact with the workpiece direction of the line force (i.e., the finger contact point on the workpiece at the boundaries of normal) instantaneous center of the triangle formed.

图4具有两条同向边的瞬心三角形及其四个手指的接触点位置关系,瞬心三角形为abc,两条同向边分别为ab和bc。 FIG 4 has the same relation to the two sides of the triangle and the instant center point of the contact position four fingers, instantaneous center of triangle ABC, the two sides of the same respectively ab and bc. 根据定理1,满足形封闭的第四个接触力的作用线必须与瞬心三角形的两条同向边bc和ab相交,并且根据定理1的方向要求,在接触力的受力方向上,作用线必须先与bc相交,然后再与ab相交。 According to Theorem 1, satisfying the fourth form-closed contact force line of action and have the same direction edge bc ab instant center intersects with two triangles, and in accordance with the direction of Theorem 1, in the direction of the force by the contact force, acting bc intersects with the line must then intersect with ab.

图5具有三条同向边的瞬心三角形及其四个手指的接触点位置关系。 FIG 5 has the same relationship to the three sides of the triangle and the instant center position of the contact points of the four fingers. 三条边关于三角形内部一点的距的方向均相同。 Three sides of the triangle on the inside in the direction from the point are the same. 图中的大箭头表示了第四个接触力的可行位置和方向。 FIG Large arrows indicate the position and orientation of the fourth possible contact force.

图6三条抓取边的端点处内法线所构成的瞬心三角形,对于任意给定的多边形的三条边,分别在这三条边的端点处作出内法线,这样三条边的两个端点处作出工件的内法线,称为工件极限位置内法线。 FIG 6 three instantaneous center triangular gripping edge at the end of the normal configuration for any given three sides of the polygon, respectively, to the normal at the end points of the three sides, two endpoints such three sides to the normal line of the workpiece, the workpiece is referred limit the normal position. 三条边共有6条极限位置内法线,在三条边上各取出一条极限位置内法线,就可以构成一个瞬心三角形,6条内法线可以构成8个瞬心三角形。 A total of six three sides of the normal position limits, each within a withdrawn limit position in the normal three sides, can form a triangle instantaneous center, the six normals instantaneous center may constitute eight triangles. 这8个瞬心三角形要么全是两条同向边的瞬心三角形,要么全是三条同向边的瞬心三角形。 The eight instantaneous center of a triangle with two or all sides of the triangle to the instantaneous center, either with all three sides of the triangle to the instantaneous center. 图中为两条同向边的瞬心三角形。 FIG triangle in the same direction for the two sides of the instantaneous center.

图7判断给定四条边是否存在形封闭抓取方案,确定第四条边的可行接触点范围。 FIG 7 is determined whether there is given the four sides form closure gripping embodiment, the contact point range determined feasible fourth side. 图7中瞬心三角形Q1-Q2Q4的两条同向边Q1Q2、Q2Q4向E4的投影的交为t1t2,且E4的内法线n4与瞬心三角形的异向边所在边界E2的内法线n2的夹角大于90度,因此这个多边形对象的4条边E1、E2、E3、E4存在满足形封闭要求的抓取方案。 FIG. 7 instantaneous center Q1-Q2Q4 two triangles with the edges of Q1Q2, Q2Q4 cross E4 of the projection is t1t2, and n4 with the normal triangle different instant center to edge E4 located within the boundaries of a normal line n2 E2 angle greater than 90 degrees, the four sides of the polygon object E1, E2, E3, E4 that satisfies the requirements of the form-closed-crawling.

图8确定异向边的可行手指接触区段,当两条同向边位于所在抓取边的起点位置时,异向边的可行区域求解方法。 Figure 8 possible to determine the finger contact section different sides, when the two co-located edge at the side of the gripping starting position, different methods to solve the feasible region side.

图9确定异向边的可行手指接触区段,当两条同向边位于所在抓取边的终点位置时,异向边的可行区域求解方法。 Figure 9 feasible to determine the finger contact section different sides, when the two co-located edge at the side of the gripping end position, different methods to solve the feasible region side.

图10确定同向边的可行手指接触区段,折线p1-J42-p3剖开的区域中包含E2的部分,n4靠近E3,故以n3的在E3上的位置为自变量参数,n1的位置范围随n3位置的变化而变化。 FIG 10 is determined with the possible finger contact section side, the region fold line p1-J42-p3 taken to include part of the E2, n4 close E3, so the position at E3 n3 as the variable parameter, the position of n1 n3 range vary with position.

图11确定同向边的可行手指接触区段,折线p1-J42-p3剖开的区域中包含E2的部分,n4靠近E1,故以n1在E1上的起点位置为自变量参数,n3的位置范围随n1位置的变化而变化。 FIG 11 is determined with the possible side finger contact section, part of E2 p1 J42--p3 region taken contained polyline, n4 close to E1, the start position so to n1 in E1 as the variable parameter, the position of n3 n1 range vary with position.

图12确定同向边的可行手指接触区段,折线p1-J42-p3剖开的区域中包含E4的部分,n4靠近E1,故以n1在E1上的起点位置为自变量参数,n3的位置范围随n1位置的变化而变化。 FIG 12 is determined with the possible side finger contact section, the fold line portion of the E4 region of the p1-J42-p3 taken included, n4 close to E1, the start position so to n1 in E1 as the variable parameter, the position of n3 n1 range vary with position.

图13确定同向边的可行手指接触区段,折线p1-J42-p3剖开的区域中包含E4的部分,n4靠近E3,故以n3在E3上的起点位置为自变量参数,n1的位置范围随n3位置的变化而变化。 FIG 13 is determined with the possible side finger contact section, the fold line portion of the E4 region of the p1-J42-p3 taken included, n4 close E3, so to start position at E3 n3 as the variable parameter, the position of n1 n3 range vary with position.

图2给出抓取规划器的工作程序。 Figure 2 shows the crawler planner procedures.

抓取规划器的工作步骤如下:1.判断给定边界四元组是否存在满足形封闭条件的抓取方案包括建立边界四元组,即从多边形中找出四条边,这是从n条边的多边形中选出4条边的组合问题。 Crawler planner work steps as follows: 1. given boundary is determined whether there is a quad-crawling meet form-closed condition includes establishing four tuple boundary, i.e. to find out from the four sides of a polygon, which is from n edges problems polygons selected combination of four sides. 判断边界四元组是否存在抓取方案的方法为:1)选择三条边构造8个具有两条同向边的瞬心三角形;如果不能构造出两条同向边的瞬心三角形,则该边界四元组不存在满足形封闭要求的抓取方案。 The method of determining whether there is a boundary quad-crawling is: 1) Select the three edges configured with eight triangular having two sides to the instantaneous center; if the two can not be constructed with the instant center of the triangle sides, the boundary quad meet the requirements of form-closed gripping program does not exist. 否则进行下一步判断。 Otherwise, the next judge. 2)如果第4条边满足以下两个条件,则这4条边存在满足形封闭要求的抓取方案。 2) if the following two conditions are satisfied Article 4 sides, the four sides that satisfies the requirements of the form-closed-crawling. 在两个条件为:·方向条件:第四条边的内法线方向与瞬心三角形的异向边方向之间的夹角大于90度。 In the two conditions: · direction condition: the fourth side of the normal direction different instant center of the triangle is larger than 90 degrees angle between the longitudinal direction.

·位置条件:如果8个瞬心三角形中至少一个以上的瞬心三角形的两条同向边在第四条抓取边上的投影的交非空。 · Positional condition: if at least two or more of a triangle with the instant center to the non-empty cross fourth gripping projection at the edge side of the instantaneous center of eight triangles.

图7中瞬心三角形Q1-Q2-Q4的两条同向边Q1Q2、Q2Q4向E4的投影的交为t1t2,且E4的内法线n4与瞬心三角形得以向边所在多边形边界边E2的内法线n2的夹角大于90度,因此这多边形的这4条边E1、E2、E3、E4存在满足形封闭要求的抓取方案。 FIG 7 instantaneous center Q1Q2-Q4 two triangles with the edges of Q1Q2, Q2Q4 the projection of the cross-E4 t1t2, n4 and E4 in the normal polygon is a triangle with instantaneous center within the boundary of the side edge E2 where n2 normal angle greater than 90 degrees, so that the four sides of the polygon E1, E2, E3, E4 gripping present embodiment meet the requirements form closure.

2.抓取边命名对于能够形成瞬心三角形的边界四元组,前三条边的命名方法为:瞬心三角形的异向边所在的边界为E2,第4条边为E4。 2. The gripping edge forms the boundary can be named for the instant center quad triangle, the three sides of the former nomenclature is: a boundary where different instant center of the triangle is the side E2 of, article 4 sides of E4. E1和E3根据在两条边的内法线的交点相对于瞬心三角形两条同向边的位置来规定,如交点是同向边的起点,则与该同向边重合的内法线所在的抓取边为E3,另一条边为E1,否则相反。 E1 and E3 according to the normal line at the intersection of two sides with respect to a predetermined instant center with the two triangle sides to a position, as a starting point to the same side of the intersection, the overlapping edges to the normal line is located within the same grab the edge as E3, the other side is E1, or vice versa.

3 确定边界四元组第四条边上满足形封闭抓取条件的可行抓取区段所有瞬心三角形的两条同向边在第四条边上投影的交之和,就是第四条边上能保证形封闭抓取的可行区间。 3 to determine the boundary edge of the fourth four-tuple satisfies shaped closed gripping condition the gripping sections of all possible instant center with the two sides of the triangle in the fourth edge and the projection of the cross, is fourth sides possible to ensure a form-closed interval crawled. 在图7中,由于瞬心三角形P1-Q2-P4的两条同向边在第四条抓取边E4上的投影的交已经完全覆盖了E4,故E4在全长范围内均是可行抓取区段。 In Figure 7, since the instantaneous center of two triangular P1-Q2-P4 with the gripping projection on the side in the fourth cross-E4 to E4 the edge has been completely covered, it is feasible to grasp E4 over the entire length take section.

4 确定异向边上的接触点可行抓取区段。 4 to determine the different possible contact points on the edge of the gripping section.

构成瞬心三角形的三条内法线所在边为E1、E2和E3,其中E2为瞬心三角形的异向边所在的抓取边。 Three within the normal configuration where the triangle side instantaneous center of E1, E2 and E3, E2 wherein the instant center of the triangle is different gripping the edge where the edge. 对于E4上可行抓取位置上的任意一点,该点处手指接触力的方向线(即E4的内法线)为n4,过E1和E3的两端点分别作各自的内法线,则共有4条内法线。 For any feasible position on the gripping point E4, the direction of the line (i.e., the normal E4) was n4 finger contact force at that point, through the two end points E1 and E3, respectively, for the respective inner normal line, then a total of 4 bar within normals. 这4条内法线存在四个交点,如果四个交点分列在n4的两边,则E2上的可行抓取区段由两部分组成,否则只存在一个E2上的可行抓取区段。 This presence of the normal four intersections 4, if four columns on both sides of the intersection points n4, it is feasible on the gripping section E2 consists of two parts, otherwise there is only feasible on a gripping section E2. 具体计算可行抓取位置的方法如下:1)用E1、E2和E3的起点位置处的内法线构造瞬心三角形。 The specific calculation method is feasible gripping position as follows: 1) E1, the normal configuration of the instant center at a start position of the triangle E2 and E3.

求出E2的起点位置内法线与E1、E3起点位置内法线n1与n3的交点J21、J23,求出E2起点位置内法线n2与n4的交点J42。 Obtained within the normal starting position of E2 and E1, E3 starting position within the normal n1 of the intersection J21 n3, J23, E2 obtained within the normal starting position n2 and n4 intersection J42.

·如果交点J21、J23与交点J31分别位于n4的两侧,则E2从起点位置到终点位置均为可行的形封闭抓取区段。 If the intersection point J21, J23 and J31 are located on both sides of the intersection point n4, the gripping section E2 is closed from the start position to the end position of the shape are possible.

·否则沿E2的正向移动n2,使n2与n1和n3的交点J21、J23与交点J31分别位于n4的两侧,则n2从当前位置移动直到终点,这一区域就是E2满足形封闭抓取的第一个可行抓取区段。 · E2 is moved in the forward or n2, n3 and n1 and n2 so that the intersection point J21, J23 and J31 are located on both sides of the intersection of n4, n2 is moved from the current position until the end, this region is form-closed gripping E2 satisfy the first viable gripping section. n4的可行抓取位置也是从当前位置到E4边的终点。 N4 is also possible to fetch the location from the end edge E4 to the current position.

·如果移动n2后不能使得J21、J23与交点J31恰好位于n4的两侧,则说明包含起点极限交点的瞬心三角形不存在。 · If not so moved J21 n2, J23 and J31 intersection n4 is just located on both sides, then the triangle containing starting limit instantaneous center intersection does not exist.

2)用E1、E2和E3的终点位置处的内法线构造瞬心三角形。 2) E1, the normal triangular configuration instant center at the end point E2 and E3.

·求出E2的终点极限位置法线与E1、E3终点位置内法线n1与n3的交点J21'、J23',求出E2起点位置内法线n2与n4的交点J42。 · Obtained with the normal end limit position E1 E2, and E3 end position within the normal n1 and n3 intersection J21 ', J23', E2 obtained within the normal starting position n2 and n4 intersection J42.

·如果交点J21'、J23'与交点J31'分别位于n4的两侧。 If the intersection point J21 ', J23' intersections J31 'n4 are located on both sides. 则E2从终点位置到起点位置均为可行的形封闭抓取区段。 E2 closing the gripping section from the end position to the start position of the shape are possible.

·否则从E2的终点开始朝着起点位置方向移动,使得J21'、J23'与交点J31'恰好位于n4的两侧,则从n2的当前位置开始到E2的起点位置,这一区域均为E2的形封闭接触点的可行抓取区段。 · Otherwise it begins to move from the end E2 toward the direction of the starting position, so that the J21 ', J23' intersections J31 'just located on both sides of n4, n2 from the current position to the start position E2, the E2 region are possible gripping section shaped contact point is closed. n4的可行抓取位置也是从E4边的起点到当前位置。 N4 is also feasible to crawl position from the beginning to the current position of the edge E4.

·如果移动n2后不能使得J21'、J23'与交点J31'恰好位于n4的两侧,则说明包含终点极限交点的瞬心三角形不存在。 · If the movement is not such that n2 J21 ', J23' intersections J31 'n4 is just located on both sides, then the instantaneous center of the triangle comprising the end limit the intersection does not exist.

5 同向边上满足形封闭条件的可行抓取接触点区段。 5 the same conditions to form the closed side of the contact point gripping section feasible.

在确定了E2的可行抓取区段之后,根据给定的E2和E4上的接触点位置,确定两条同向边E1和E3上的可行抓取区段。 After determining the gripping section E2 is possible, according to the contact points on a given position E2 and E4, two co-determining viable gripping section on the side E1 and E3. 这两条同向边上的可行区段大小互相依存,即E1上的可行区段确定之后,对于E1上给定的内法线n1的某一个位置,E3上的可行区段也随之而定。 These two interdependent with the edge of the feasible size of the segments, i.e., segments on E1 viable after determining, for a given normal n1 within a certain location on the E1, E3 viable sections also will be on the set. 根据n4和n2的交点J42位置与E1、E3边端点的内法线之间的位置关系,同向边上的可行区段可能由两部分组成,每一部分的求解方法如下。 The positional relationship between the intersection of n2, n4, and J42 and the position E1, E3 normal inner end edge, with the two parts may be possible to the edge of the section, each part of the solution method as follows.

过J42点作关于E1和E3垂线,分别得相应的垂足为p1,p3。 J42 over point for E1 and E3 on the perpendicular, respectively, to give the corresponding pedal p1, p3. 根据J42是否位于E1、E3的内法线极限区段之内,折线p1-J42-p3可能将E1和E3剖分为两个部分,折线p1-J42-p3同样也将E2和E4上的内法线n2与n4分成两部分。 The J42 is within the normal limits of the section E1, the E3, line p1-J42-p3 E1 and E3 may be split into two portions, the same will be within the E2 and E4 fold lines p1-J42-p3 normal n2 and n4 divided into two parts. 在这两部分上均存在可行接触点区段,求解方法如下。 Possible contact points are present on the section in two portions, solution method as follows. 如图13所示。 13.

1)第一部分(折线p1-J42-p3剖开的平面区域中包含E2的部分)求解如下:如果在该区域中n4靠近E3,故以n3的位置为自变量参数,n1的位置范围随n3位置的变化而变化,见图10。 1) a first part (part of E2 p1-J42-p3 planar region taken contained polyline) to solve the following: if in the E3 region close to n4 in the position so as the variable parameter n3, with n3 position n1. change of position changes, shown in Figure 10. 否则,以n1的位置为自变量参数,n3的位置范围随n1位置的变化而变化,见图11。 Otherwise, the position as the variable parameters n1, n3 range of positions n1 vary with position, shown in Figure 11.

E3中n3可行抓取区段:E3中被折线p1-J42-p3剖开而所余下的部分。 Possible gripping section n3 in E3: cut away and the remaining portion of the broken line E3 p1-J42-p3.

E1中n1的可行抓取区段为P1'-P1”。P1'位置的求解方法为,对于E3上任意给定接触点位置的内法线n3,P1'的位置为n3的当前位置与n4的交点在E1上的投影点。P1”的位置取决于以下条件:设n1与n3的交点为J13、n3与n4的交点为J34、n3与n2的交点为J32,则n1的可行区域为保证在内法线n3上J34位于J13和J32之间,因此P1”的位置为E1的端点或p1。如图8所示。 Current position E1, the gripping sections is feasible n1 'position of solving method, the E3 for any given position within the normal contact point n3, P1' P1'-P1 ".P1 position of n3 and n4 the position of the intersection point on the projection E1 .P1 "depends on the following conditions: Let the intersection n1 and n3 is J13, n3 and n4 is an intersection J34, n3 and n2 is the intersection point J32, the feasible region to ensure n1 n3 located on the normal to the inner between J13 and J34 J32, and therefore the position P1 "is E1 or endpoint P1. as shown in Fig.

2)第二部分(折线p1-J42-p3剖开的平面区域中包含E4的部分)求解如下:如果在该区域中n4靠近E3,故以n3的位置为自变量参数,n1的位置范围随n3位置的变化而变化,见图12。 2) the second part (planar region fold line p1-J42-p3 taken to include part of the E4) to solve the following: If n4 in the E3 region close, so the position n3, the range for the location parameter arguments, over N1 n3 change the position changes, shown in Figure 12. 否则,以n1的位置为自变量参数,n3的位置范围随n1位置的变化而变化,见图13。 Otherwise, the position as the variable parameters n1, n3 range of positions n1 vary with position, shown in Figure 13.

E1中n1的可行抓取区段:从E1被折线p1-J42-p3剖开的部分。 E1 is feasible gripping section n1: E1 cut away from the fold line portion p1-J42-p3.

E3中n3的可行抓取区段P3'-P3”,其中P3'确定方法:对于E1上任意给定接触点位置,p3为n1的当前位置与n4的交点在E3的投影。P3”的位置取决于以下条件:设在内法线n1上,n1与n3的交点为J13、n1与n4的交点为J14、n1与n2的交点为J12,则n3的可行抓取区段为保证在内法线n1上J14位于J13和J12之间,因此P3”的位置为E3的端点或p3。如图12所示图12和图13分别为第一区域中n4靠近E1、第二区域中n4靠近E3时的可行接触位置确定情况。 E3, n3 feasible gripping section P3'-P3 ", where P3 'is determined: For the E1 any given contact point, p3 and n1, the current position of the intersection E3 n4 projection .P3" position It depends on the following: Let the normal inner n1, n1 and n3 of intersection of the J13, the intersection n1 and n4 is J14, n1 and n2 the intersection of the J12, the gripping section n3 feasible method to guarantee the inner located on the line between n1 J14 J13 and J12, and therefore the position P3 "endpoint or E3 as p3. 12 shown in FIGS. 12 and 13 near the first region E1 n4, respectively, the second near the E3 region n4 determining a contact position when feasible situation.

6 确定最优抓取位置经过以上步骤得到一个可行的抓取区间,即每一条边上的保证形封闭的手指接触位置区间。 6 to determine the optimal gripping position obtained through the above steps a viable gripping section, i.e. to ensure each side of the contact position of the finger-shaped closed section. 每一条边上的可行区间随着n4位置的变化而变化,根据手指空间位置分布情况、手指接触力的大小保持均衡等条件确定出当前4条抓取边界上的最优抓取位置。 Each possible edge interval varies the position n4 varies according to the position of the spatial distribution of the finger, the size of the finger contact force to maintain equilibrium conditions to determine the current optimal gripping position 4 on the boundary crawl.

7 确定最优抓取方案当给定多边形对象的所有边界四元组全部处理完之后,由于每一个边界四元组都有可能存在一个抓取方案,因此必须从全部可行的方案中找出最优的抓取方案。 7 when determining the optimal scheme to fetch all the given polygon boundary quad all objects processed, since each has a boundary quad embodiment there may be a gripping, we must find the most feasible from all aspects excellent-crawling. 本发明以手腕运动幅度、手指的运动幅度、手指接触点相对位置,手指接触力相对大小等因素作为评价指标,对全部方案进行评价,从中求出最优的抓取方案。 In the present invention the amplitude of the wrist motion, the amplitude of motion of the finger, the relative position of the finger contact point, the contact force relative to the finger size and other factors as an evaluation index to evaluate the entire program, determined from the best-crawling.

Claims (7)

1.一种多边形对象多指抓取规划方法,其特征在于抓取规划的步骤是:a.由图象获取与处理器获取棱柱形形状工件的图象,并处理转化为便于计算机表示的三维实体图形,最后输出抓取平面上的多边形;b.由抓取规划器确定四手指的抓手对工件的全部可行的抓取方案,并确定最佳的抓取方案;c.由抓取规划器输出最佳抓取方案的手指位置信号给手指抓手的控制与驱动器实行抓取动作;抓取规划器确定可行的抓取方案步骤为:d.用多指灵巧手中任意三个手指对工件工作接触力方向线的交点形成一个瞬心三角形;e.根据瞬心三角形确定第四个手指满足形封闭要求的位置范围。 A multi-polygon object gripping means planning method, wherein the step of gripping plan is:. A processor with the image acquired by the image acquisition prismatic shape of the workpiece, and ease of processing into a three-dimensional computer representation entity graph, the final output on the gripping plane polygon; B is determined by the planner gripper finger grip all four possible solutions for gripping a workpiece, and to determine the best-crawling;. C programming by the gripper. finger position signal output programs that have the best gripping action to the gripper finger grip control and driver; gripper gripping planner determines feasible solutions steps: d multi-fingered hands of any of the three fingers of the workpiece. intersection operative contact force in the direction forming an instantaneous center line of the triangle;. E instantaneous center position of the range of the fourth finger of the triangle is determined to meet the requirements according to the form closure.
2.根据权利要求1所述的多边形对象多指抓取规划方法,其特征在于根据工件的多边形形状确定第四指在多边形上的满足形封闭要求的接触位置范围的步骤为:a.判断边界四元组是否存在满足形封闭要求的抓取方案;b.对于存在满足形封闭要求的抓取方案的4条抓取边,建立可行的抓取方案,其步骤为:(a)根据前三条边以及所组成的瞬心三角形,确定第4条边上的可行抓取区段;(b)确定一条异向边上满足形封闭要求的抓取位置区段;(c)确定两条同向行边上满足形封闭要求的抓取位置区段c.根据手指空间位置分布情况和手指接触力的大小保持均衡条件,确定满足形封闭要求的四条抓取位置区段上的最佳抓取位置。 The polygon object gripping means over one of the planning method, wherein the step of determining a fourth closing means to meet the requirements of the polygonal shape on the contact range of positions of the workpiece according to claim polygonal shape:. A border judgment quad-crawling whether there is a closed shape to meet requirements; b. for the present embodiment satisfies the four gripping gripping edges form closure requirements, to establish a viable gripping embodiment, the steps of:. (a) the first three and the triangle side instantaneous center consisting of determining feasible article 4 gripping section edge; (b) determining the position of a gripping section shaped to meet different requirements of the closed sides; (c) determining two co line edge shaped to meet the requirements of the closed position of the gripping section c. a balanced condition of the finger spatial distribution and size of the finger position of the contact force, that satisfy the four best gripping position gripping section shaped closed position requirements .
3.根据权利要求2所述的多边形对象多指抓取规划方法,其特征在于判断边界四元组是否存在满足形封闭要求的抓取方案的步骤为:a.选择三条边构造8个具有两条同向边的瞬心三角形,若不能构造出两条同向边的瞬心三角形,则该边界四元组不存在满足形封闭要求的抓取方案;b.若第四条边满足以下两个条件,则这第四条边存在满足形封闭的抓取方案:(a)方向条件:第四边的内法线与瞬心三角形的异向边方向之间的夹角必须大于90度;(b)位置条件:若8个瞬心三角形中至少一个以上的瞬心三角形的两条同向边在第4条边上的投影的交非空。 The polygon object according to claim 2 multiple gripping means planning method, wherein the boundary is determined whether there is the step of quad-crawling meet the requirements of form closure:. A Select three edges configured having two 8 Article instant center with the triangle sides, if not instantaneous center of the triangle constructed with the two sides of the boundary quad-crawling not meet the requirements of the presence of closed shape; B if the following two fourth edges. condition, then this form that satisfies the fourth side closed gripping scheme: (a) direction condition: the normal and the fourth side of the triangle anisotropy instant center angle between the longitudinal direction must be greater than 90 degrees; (b) position condition: If the instantaneous center of eight triangles of at least two or more of a triangle with the instant center to the non-empty cross-section of the projection 4 at the edges of the sides.
4.根据权利要求2所述的多边形对象多指抓取规划方法,其特征在于所有瞬心三角形的两条同向边在第4条边上投影的交之和,就是第4边上能保证形封闭抓取的可行区段。 The polygon object according to claim 2 multiple gripping means planning method, wherein all instant center with the two sides of a triangle in section 4 and the sides of the projected cross, to ensure that the first edge 4 shaped section closed feasible crawl.
5.根据权利要求2所述的多边形对象多指抓取规划方法,其特征在于确定异向边上满足形封闭要求的抓取位置区段的步骤为:a.先将抓取边命名:对于能够形成瞬心三角形的边界四元组,命名瞬心三角形的异向边所在的多角形边界为E2,两条同向边分别命名为E1和E3,具体根据这两条边的内法线的交点相对于瞬心三角形两条同向边的位置确定,若交点是同向边的起点,则与该同向边重合的内法线所在的抓取边为E3,另一条边为E1,否则为E1,另一条边为E3,第4条边为E4;b.确定异向边上满足形封闭要求的抓取位置区段的方法为:(A).用E1、E2和E3的起点位置处的内法线构造瞬心三角形,求出E2的起点位置的内法线n2与E1、E3起点位置内法线n1、n3的交点J21、J23,求出E2起点位置内法线n2与E4的内法线n4的交点J42;(a)若交点J21、J23与交点J31分别位于n4的两侧,则E2从起点 The polygon object according to claim 2 multiple gripping means planning method, wherein the step of determining the iso-shaped section closed position gripping the sides meet the requirements of:. A first gripping edges named: for instantaneous center capable of forming a triangle quad boundary, the boundary polygon named instant center of the triangle is located to the side is different E2 of, two same named E1 and E3 to the edge, particularly in accordance with the normal inner edges of the two intersection of two triangular instantaneous center with respect to the position of the edge with the determination, if the same intersection is the starting point of the edge, the edges overlap to the normal line located within the same gripping edge is E3, the other side of E1, or for the E1, E3 is the other side, the fourth side of article E4; b determining methods different to meet the edge shaped section closed gripping position is required: (a) used E1, E2 and E3 to the starting position. the normal triangular configuration at the instant center, obtains the normal line n2 E1 and E2 of the starting position, the starting position E3 normal n1, n3 intersection point J21, J23, E2 obtains the starting position and the normal line n2 E4 in the normal n4 intersection J42; (a) if the intersection point J21, J23 and J31 are located on both sides of the intersection point n4, the E2 from a start point 位置到终点位置均为可行的形封闭抓取区段;J31是E1起点位置内法线n1与E3起点位置内法线n3的交点;(b)否则沿E2的正向移动n2,使n2与n1和n3的交点J21、J23与交点J31分别位于n4的两侧,则n2从当前位置移动直至终点,这一区段就是满足形封闭抓取的第一个可行区段;n4的可行位置也是从当前位置到E4边的终点;(c)如果这样的法线不存在,说明包含起点极限交点的三角形不存在;或者,(B).用E1、E2和E3的终点位置处的内法线构造瞬心三角形,求出E2终点极限位置法线与E1、E3终点位置内法线n1、n3的交点J21'、J23',求出E2终点位置内法线n2和E4内法线n4的交点J42;(a)若交点J21'、J23'与交点J31'分别位于n4的两侧,则E2从终点位置到起点均为可行的形封闭抓取区段;J31'是E3终点位置内法线n3与E1终点内法线n1的交点;(b)否则沿E2的终点指向起点位置方向移动n2,使得J21'、J23' Position to the end position are feasible shaped gripping portion closed; J31 is the starting point of the normal line n1 E1 and E3 normal starting position of an intersection point n3; (b) Otherwise, the forward movement of the edge E2 n2, n2 and so n1 and n3 intersection of J21, J23 and J31 are located on both sides of the intersection of n4, n2 is moved from the current position until the end of this section is to satisfy a possible segment-shaped closed first grab; n4 is also feasible position from the current position to the end edge E4; (c) if such normal line, it indicates the starting point of a triangle comprising the intersection limit does not exist; or, (B) used E1, the normal at the end point E2 and E3. instantaneous center triangular configuration, E2 obtained with normal end limit position E1, E3 end position within the normal n1, n3 intersection point J21 ', J23', obtaining the intersection end point E2 and the normal n2 and n4 normal E4 J42; (a) if the intersection point J21 ', J23' intersections J31 'n4 are located on both sides, the position from the end E2 to the origin are viable form-closed gripping section; J31' is the normal end position E3 n3 and n1 normal to the intersection point E1 end; (b) otherwise, in the start point of the end point E2 direction n2, such J21 ', J23' 交点J31'恰好位于n4的两侧,则从n2的当前位置开始到E2的起点位置,这一区段均为E2的形封闭接触点的可行抓取区段;(c)若移动n2后不能使得J21'、J23'与交点J31'恰好位于n4的两侧,则说明包含终点极限交点的瞬心三角形不存在。 Intersection J31 'just located on both sides of n4, n2 from the current position to the start position E2, E2 of the closed-section-shaped contact points are feasible gripping section; (c) if the mobile is not n2 such J21 ', J23' intersections J31 'n4 is just located on both sides, then the instantaneous center of the triangle comprising the end limit the intersection does not exist.
6.根据权利要求5所述的多边形对象多指抓取规划方法,其特征在于确定同向边上满足形封闭要求的抓取位置区段的方法为:过J42点作E1和E3的垂线,得相应的垂足P1、P3,折线P1-J42-P3可能将E1和E3分成两部分,折线P1-J42同样也将E2和E4上的内法线n2与n4分成两部分,在这两部分上均存在可行的抓取位置区段:a.折线P1-J42-P3剖开的平面区域中包含E2的部分:E3中n3可行抓取区段:E3中被折线P1-J42-P3剖开而所余下的部分;E1中n1可行抓取区段:P1'-P1”,其中P1'位置的确定:对于E3上任意给定接触点的内法线n3;P′的位置为n3当前位置与n4的交点在E1上的投影点;P″的位置为E1的端点或P1;b.折线P1-J42-P3剖开的平面区域中包含E4的部分:E1中n1的可行抓取区段:从E1被折线P1-J42-P3剖开的部分;E3中n3的可行抓取区段:P3'-P3”,其中P3'位置的确定:对于E1上任意给定接触点位置 The multi-polygon object 5 of the gripping finger planning method, wherein the method of determining the gripping position to meet with the shape of the closed section of the edge is required claim: J42 over point for the E1 and E3 perpendicular , to give the corresponding pedal P1, P3, P1-J42-P3 fold line may be divided into two portions E1 and E3, line P1-J42 also within the normal on the E2 and E4 n2 and n4 divided into two parts, the two portion are present feasible position gripping zone:. a fold line P1-J42-P3 taken in plane area containing part of the E2: E3, n3 possible gripping section: a folding line P1-J42-P3 in section E3 the remaining part of the opening; E1 n1 possible in the gripping sections: P1'-P1 ", where P1 'position determination: the E3 for any given point of contact within the normal n3; P' current location n3 the intersection of the projection points n4 position on the E1; P "position for the end point E1 or P1; b P1-J42-P3 planar region comprising a portion of the fold line taken in the E4: E1 n1 feasible in gripping area group: from the fold line E1 P1-J42-P3 partially sectioned; E3 n3 feasible in the gripping sections: P3'-P3 ", determines where P3 'position: the E1 for any given contact point 内法线n1,P3'为n1的当前位置与n4的交点在E3的投影点,P3”的位置为E3的的端点或P3。 The normal line n1, P3 'of the current position of the intersection n1 and n4 in the projection of the point E3, P3 "the position of an end point or E3 P3.
7.根据权利要求1所述的多边形对象多指抓取规划方法,其特征在于确定最佳的抓取方案的方法是:以手腕运动幅度、手指运动幅度,手指接触点向对位置和手指接触力相对大小为评价指标,从全部可行的抓取方案中找出最佳抓取方案。 The polygon object gripping means over one of the planning method, wherein the method to determine the best solution is to crawl claim: amplitude of motion wrist, finger motion amplitude, a finger contact point and the position of the finger the relative size of the force evaluation to find the best solutions from the crawl crawl all possible scenarios.
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