把持力の最適化と最悪負荷の解析
Optimization of Robot Grasping Forces and Worst Case Loading
ノルム空間の枠組みで把持力ベクトルの最適化問題を定式化し、外力と把持系の運動学に依存する最適解の表現を導出するとともに、把持系が支えられる外力の最大ノルム（最悪負荷）を特徴づけた。
著者: Or Elmackias, Tami Zaretzky, Reuven Segev
分類: cs.RO
原文アブストラクト
We consider the optimization of the vector of grasping forces that support a known generalized force acting on the grasped object---a rigid body or a mechanism. Working in the framework of finite-dimensional normed vector spaces and their dual spaces, the cost function to be minimized is assumed to be a norm on the space of grasping forces. We present an expression for the optimum which depends on the external force and the kinematics of the grasping system. Next, assuming that optimal grasping forces are applied using force control, and assuming that there is a bound on the norm of the admissible grasping forces, we characterize the largest norm of an external force that the grasping system may support, that is, the norm of the worst-case loading that may be applied and still be supported. A few simple examples are given for the sake of illustration.