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Mathematical Studying in Control of Grasping

机译：控制控制中的数学研究

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The main purpose of developing of mechanical hands is to give robots the knack in order to grasp objects of varying geometric and physical properties. The complete model is a coupling of models which describe contact behavior with generally using the models of rigid-body kinematics and dynamics. The contact model fundamentally come down to the choice of components of contact force and moment which are transmitted through each contact. Mathematical properties of the complete model obviously bring about two primary grasp types whose physical interpretations provide insight for grasping and manipulation planning. A grasp with complete restraint avoids loss of contact and therefore is so secure. As will be mentioned, two primary limitation properties are force closure and form closure. A form closure grasp assurances the maintenance of contact as long as the links of the hand and the proposed object are also well verged on as rigid and as long as the joint actuators are sturdy enough. It should be noted that the main difference between force closure and also form closure grasps is the latter’s reliance on contact friction.
机译：开发机械手的主要目的是为机器人提供诀窍，以抓住具有不同几何和物理特性的物体。完整模型是模型的耦合，这些模型通常使用刚体运动学和动力学模型来描述接触行为。接触模型从根本上取决于通过每个接触传递的接触力和力矩分量的选择。完整模型的数学性质显然带来了两种主要的抓握类型，它们的物理解释为抓握和操纵计划提供了见识。完全克制的抓握可避免失去接触，因此非常安全。将会提到，两个主要的限制属性是强制闭合和形状闭合。只要手和所提出的物体之间的连接也牢固，只要关节致动器足够坚固，就可以通过形状闭合抓握来确保保持接触。应该注意的是，力闭合和形状闭合抓取之间的主要区别在于后者对接触摩擦的依赖。

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