机器人多指手抓取规划算法研究
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摘要
多指灵巧手作为机器人与环境相互作用的执行部件,通过从结构和功能上模仿人类的手以实现不同形状物体的稳定抓取和灵巧操作,在过去的近三十年来引起了国内外学者的极大兴趣。自由度的增加和抓取方式的多样性使得抓取规划变得复杂。本文对机器人多指手抓取规划问题进行了深入的分析和研究,并设计和研制出采用形状记忆合金驱动的新型多指灵巧手样机。
本文的主要研究成果如下：
(1)提出了一种多边形物体带摩擦抓取的最优规划算法
加工工件被限制在工作台平面运动时,可以当二维物体处理。考虑n指抓取多边形物体的情况,提出了一种求解满足力封闭条件的非线性规划算法。在定义各方向上手指能平衡的最大外力螺旋作为优化指标后,详细分析了原始力螺旋集合的特点和优化指标在力螺旋空间中的几何意义和物理意义。最后给出了一种在初始抓取位置不断向最优方向改进抓取性能的迭代算法,该算法能以较少的迭代步骤收敛到较优的抓取位置,减少了优化算法运行时间。
(2)改进了射线法在抓取性能评价中的应用
在抓取性能评价中需要采用射线法(ray-shooting)来计算从原点出发沿某方向的射线与接触力螺旋集合凸包边界的交点。这样通过支撑映射(support mapping)来读取抓取力螺旋空间的几何形状,不需要线性化摩擦锥,并可提高计算速度。本文解决了在实际应用中怎样判断原点是否处于接触力螺旋集合凸包内部,迭代过程怎么处理奇异情况等问题。并且提出了采用搜索树结构和短路技术(short-circuiting technique)来进一步加快抓取性能评价算法的计算速度。
(3)提出了新的抓取性能评价方法并使用到多面体的最优抓取规划上
在每个接触点的法向分量都小于1的假设下,本文提出了一种基于抗扰动能力的抓取性能评价方法。该评价方法不仅克服了其它方法在力螺旋空间中单位的不一致性且与物体坐标系的选取和与被抓取物体大小相关的缺陷,而且包含了被抓取物体的几何信息,并能在三维物体抓取时可视化显示。然后将其使用到三维多面体的最优抓取位置规划问题上,推导出抓取性能改进的必要条件。在满足单位力封闭的初始抓取位形上,提出了一种在多面体给定接触面上搜索局部最优抓取位置的迭代算法。
(4)提出了一种最稳定抓取的快速动态力分配算法
被抓取物体在受到随时间变化的外力螺旋作用时,需要手指在接触点产生相应的作用力抵消外力螺旋以保持平衡。为快速求解分配到各个手指的力以获得最稳定的抓取,本文将动态力分配算法分为离线和在线两个阶段,大部分计算在离线阶段完成以加快在线计算速度。在离线阶段使用区域三角剖分(Zone Triangulation)将原始接触力螺旋集合的凸包内部空间划分为许多个非奇异的单纯形,并记录下每个单纯形的邻接单纯形。于是在在线阶段,只需要寻找到所需合力螺旋所在的单纯形后,通过该单纯形顶点对应的原始接触力即可快速计算出最优分配力。该算法不仅运行速度快,并且得到的解十分接近最优解。
(5)采用六维力/力矩传感器实现形状未知物体的抓取
形状未知物体的抓取规划是机器人研究领域的一大挑战。本文在三只机械臂末端安装上六维力/力矩传感器搭建出三指抓取系统,与前人基于机器视觉的抓取规划不同,该抓取系统结构简单,不需要重构被抓取物体的几何模型。当机械臂末端和物体有接触力产生时,通过传感器信息即可估算出接触点的位置及对应的法向量方向。于是机械手不仅可以当作执行器,实现抓取；而且也可作为传感器,通过触觉来探索环境信息,获取被抓取物体的几何信息后搜寻满足力封闭的抓取位置。
(6)开发出形状记忆合金驱动的三指灵巧手
采用人工肌肉作为驱动器已成为多指灵巧手发展的潮流。形状记忆合金(SMA)是一种具有形状记忆效应的特殊金属材料,本身体积很小,可以集传感、驱动、传动于一体,是一种很有潜力的人工肌肉材料。本文将形状记忆合金内置到手指和手掌中开发出紧凑的三指9自由度灵巧手ZJUHand.目前国内研制的灵巧手还没有使用SMA作为驱动器的先例,ZJUHand的研究填补了国内在相关领域的空白。相比于国外SMA驱动的灵巧手,ZJUHand具有结构简单紧凑、重量轻、成本低等优点,特别适合安装到机械臂末端实现较轻负载的精细操作。
Being the executive component of interaction between the robot and the environment, multi-fingered dexterous hand is capable of stable grasping and dexterous manipulation of objects in different shapes through mimicking human hand both in structure and functionality, and aroused great interest from scholars at home and abroad in the past three decades. The grasp planning becomes complicated because of the increased degrees of freedom and diversity of grasp mode. In this thesis, in-depth research was performed on the robotic grasp planning issues, and a novel multi-fingered robotic hand driven by shape memory alloy was developed.
The main innovative work of this thesis is summarized as follows:
(1) Proposes a optimal planning algorithm for polygonal object grasping with frictional contacts
Workpiece can be treated as2D object when it is restricted to move on the workbench. Considering a polygonal object grasped by n fingers, a planning algorithm is proposed to calculate the initial positions satisfying force-closure condition. After defining the maximum external wrench in all directions a grasp can balance as a criterion, we analyzed the features of the primitive wrench set and both the geometrical and the physical significances of the grasping planning criterion in wrench space. Starting at the initial arrangement, an iterative algorithm is proposed to continuously improve grasp performance towards the optimal direction. It converges to the near-optimal grasp arrangement in less iteration and reduces the running time dramatically.
(2) Enhances the ray-shooting approach to grasp evaluation
Calculation of the intersection point on the boundary of convex hull of the contact wrench set with a ray emitting from the origin along a certain direction is required in the grasp evaluation problem. The geometry of the grasp wrench space can be read by the support mapping in the ray-shooting approach. Without linearization of the friction cones, the efficiency of the grasp evaluation is improved. In this thesis, we discuss some issues such as how to determine whether the origin is contained in the convex hull of the contact wrench set, how to treat the singular cases in the iteration, etc. In the same time, an enhanced algorithm with searching tree and short-circuiting technique is put forward to further accelerate the grasp evaluation algorithm.
(3) Presents a novel grasp evaluation method and implements it to polyhedral objects grasp planning
A novel grasp evaluation method is presented based on disturbance force rejection under the assumption that the normal component of each individual contact force is less than one. It overcomes the drawbacks of other grasp quality indices such as non-uniformity of the wrench space and a dependence on scale and choice of reference frame, besides, it incorporates the object geometry, can be visualized easily for3-D grasps. Next, we implement it to optimal grasp planning for polyhedral objects in3-D space and deduce a necessary condition for grasp quality improvement. Starting from an initial force-closure unit grasp configuration, an iterative algorithm is proposed to find the locally optimum contact points on the assigned faces of a polyhedral object.
(4) Proposes a fast maximum stable grasping algorithm in dynamic force distribution
When the grasped object endures time-varying external wrench, it requires proper contact forces to offset the external wrench and maintain balance. In order to calculate the maximum stable grasping force for each finger quickly, we divide the dynamic force distribution algorithm into two phases and speed up the on-line computation by shifting as much computation as possible from an on-line phase to an off-line phase. In the off-line phase, a nonsingular simplex set is obtained by the zone triangulation of the convex hull of the contact primitive wrench set, and the adjacent simplexes of each resultant simplex are recorded. Therefore, in the on-line phase, once the specific simplex which contains the required resultant wrench is found, the optimal contact forces can be calculated quickly by the combination of the primitive forces corresponding to the vertices of this simplex. The proposed two-phase runs very fast and the obtained contact forces are very close to the optimal solution.
(5) Presents a method for unknown objects grasping using six-axis force/torque sensors
Geometrically unknown objects grasping is a challenging problem in robotic grasping. Mounting a six-axis force/torque sensor on the end of each robotic arm, we design a three-fingered robotic hand grasping system. Compared to previous work based on computer vision, our system is simpler and model reconstruction is not necessary. The position of the contact point and corresponding normal direction on the object can be calculated from the sensor information once contact occurs. Therefore, beside as an actuator to grasp the object, the robotic hand is a touching sensor and capable of "exploration" the shape of unknown objects through continual contact to find suitable force-closure grasp configurations.
(6) Develops a novel three-fingered detours hand driven by shape memory alloy
The artificial muscle is the development trend of actuator for multi-fingered dexterous hand. Shape memory alloy is a special metal material with shape memory effect. It is a promising artificial muscle material because of its small size. It is also capable of integrating sensing, driving and transmission. In this thesis, a three-fingered dexterous hand named ZJUHand is developed. It is a compact hand with9-DOFs and the shape memory alloy is built into the fingers and palm. ZJUHand is the first SMA-driven dexterous hand in China, and filled related blank in domestic. Compared to the foreign SMA-driven dexterous hands, ZJUHand possess many advantages such as simple structure, compact size, light weight, low cost, etc. It is particularly suitable to install on the end of manipulator for fine operation with light load.
本文的主要研究成果如下：
(1)提出了一种多边形物体带摩擦抓取的最优规划算法
加工工件被限制在工作台平面运动时,可以当二维物体处理。考虑n指抓取多边形物体的情况,提出了一种求解满足力封闭条件的非线性规划算法。在定义各方向上手指能平衡的最大外力螺旋作为优化指标后,详细分析了原始力螺旋集合的特点和优化指标在力螺旋空间中的几何意义和物理意义。最后给出了一种在初始抓取位置不断向最优方向改进抓取性能的迭代算法,该算法能以较少的迭代步骤收敛到较优的抓取位置,减少了优化算法运行时间。
(2)改进了射线法在抓取性能评价中的应用
在抓取性能评价中需要采用射线法(ray-shooting)来计算从原点出发沿某方向的射线与接触力螺旋集合凸包边界的交点。这样通过支撑映射(support mapping)来读取抓取力螺旋空间的几何形状,不需要线性化摩擦锥,并可提高计算速度。本文解决了在实际应用中怎样判断原点是否处于接触力螺旋集合凸包内部,迭代过程怎么处理奇异情况等问题。并且提出了采用搜索树结构和短路技术(short-circuiting technique)来进一步加快抓取性能评价算法的计算速度。
(3)提出了新的抓取性能评价方法并使用到多面体的最优抓取规划上
在每个接触点的法向分量都小于1的假设下,本文提出了一种基于抗扰动能力的抓取性能评价方法。该评价方法不仅克服了其它方法在力螺旋空间中单位的不一致性且与物体坐标系的选取和与被抓取物体大小相关的缺陷,而且包含了被抓取物体的几何信息,并能在三维物体抓取时可视化显示。然后将其使用到三维多面体的最优抓取位置规划问题上,推导出抓取性能改进的必要条件。在满足单位力封闭的初始抓取位形上,提出了一种在多面体给定接触面上搜索局部最优抓取位置的迭代算法。
(4)提出了一种最稳定抓取的快速动态力分配算法
被抓取物体在受到随时间变化的外力螺旋作用时,需要手指在接触点产生相应的作用力抵消外力螺旋以保持平衡。为快速求解分配到各个手指的力以获得最稳定的抓取,本文将动态力分配算法分为离线和在线两个阶段,大部分计算在离线阶段完成以加快在线计算速度。在离线阶段使用区域三角剖分(Zone Triangulation)将原始接触力螺旋集合的凸包内部空间划分为许多个非奇异的单纯形,并记录下每个单纯形的邻接单纯形。于是在在线阶段,只需要寻找到所需合力螺旋所在的单纯形后,通过该单纯形顶点对应的原始接触力即可快速计算出最优分配力。该算法不仅运行速度快,并且得到的解十分接近最优解。
(5)采用六维力/力矩传感器实现形状未知物体的抓取
形状未知物体的抓取规划是机器人研究领域的一大挑战。本文在三只机械臂末端安装上六维力/力矩传感器搭建出三指抓取系统,与前人基于机器视觉的抓取规划不同,该抓取系统结构简单,不需要重构被抓取物体的几何模型。当机械臂末端和物体有接触力产生时,通过传感器信息即可估算出接触点的位置及对应的法向量方向。于是机械手不仅可以当作执行器,实现抓取；而且也可作为传感器,通过触觉来探索环境信息,获取被抓取物体的几何信息后搜寻满足力封闭的抓取位置。
(6)开发出形状记忆合金驱动的三指灵巧手
采用人工肌肉作为驱动器已成为多指灵巧手发展的潮流。形状记忆合金(SMA)是一种具有形状记忆效应的特殊金属材料,本身体积很小,可以集传感、驱动、传动于一体,是一种很有潜力的人工肌肉材料。本文将形状记忆合金内置到手指和手掌中开发出紧凑的三指9自由度灵巧手ZJUHand.目前国内研制的灵巧手还没有使用SMA作为驱动器的先例,ZJUHand的研究填补了国内在相关领域的空白。相比于国外SMA驱动的灵巧手,ZJUHand具有结构简单紧凑、重量轻、成本低等优点,特别适合安装到机械臂末端实现较轻负载的精细操作。
Being the executive component of interaction between the robot and the environment, multi-fingered dexterous hand is capable of stable grasping and dexterous manipulation of objects in different shapes through mimicking human hand both in structure and functionality, and aroused great interest from scholars at home and abroad in the past three decades. The grasp planning becomes complicated because of the increased degrees of freedom and diversity of grasp mode. In this thesis, in-depth research was performed on the robotic grasp planning issues, and a novel multi-fingered robotic hand driven by shape memory alloy was developed.
The main innovative work of this thesis is summarized as follows:
(1) Proposes a optimal planning algorithm for polygonal object grasping with frictional contacts
Workpiece can be treated as2D object when it is restricted to move on the workbench. Considering a polygonal object grasped by n fingers, a planning algorithm is proposed to calculate the initial positions satisfying force-closure condition. After defining the maximum external wrench in all directions a grasp can balance as a criterion, we analyzed the features of the primitive wrench set and both the geometrical and the physical significances of the grasping planning criterion in wrench space. Starting at the initial arrangement, an iterative algorithm is proposed to continuously improve grasp performance towards the optimal direction. It converges to the near-optimal grasp arrangement in less iteration and reduces the running time dramatically.
(2) Enhances the ray-shooting approach to grasp evaluation
Calculation of the intersection point on the boundary of convex hull of the contact wrench set with a ray emitting from the origin along a certain direction is required in the grasp evaluation problem. The geometry of the grasp wrench space can be read by the support mapping in the ray-shooting approach. Without linearization of the friction cones, the efficiency of the grasp evaluation is improved. In this thesis, we discuss some issues such as how to determine whether the origin is contained in the convex hull of the contact wrench set, how to treat the singular cases in the iteration, etc. In the same time, an enhanced algorithm with searching tree and short-circuiting technique is put forward to further accelerate the grasp evaluation algorithm.
(3) Presents a novel grasp evaluation method and implements it to polyhedral objects grasp planning
A novel grasp evaluation method is presented based on disturbance force rejection under the assumption that the normal component of each individual contact force is less than one. It overcomes the drawbacks of other grasp quality indices such as non-uniformity of the wrench space and a dependence on scale and choice of reference frame, besides, it incorporates the object geometry, can be visualized easily for3-D grasps. Next, we implement it to optimal grasp planning for polyhedral objects in3-D space and deduce a necessary condition for grasp quality improvement. Starting from an initial force-closure unit grasp configuration, an iterative algorithm is proposed to find the locally optimum contact points on the assigned faces of a polyhedral object.
(4) Proposes a fast maximum stable grasping algorithm in dynamic force distribution
When the grasped object endures time-varying external wrench, it requires proper contact forces to offset the external wrench and maintain balance. In order to calculate the maximum stable grasping force for each finger quickly, we divide the dynamic force distribution algorithm into two phases and speed up the on-line computation by shifting as much computation as possible from an on-line phase to an off-line phase. In the off-line phase, a nonsingular simplex set is obtained by the zone triangulation of the convex hull of the contact primitive wrench set, and the adjacent simplexes of each resultant simplex are recorded. Therefore, in the on-line phase, once the specific simplex which contains the required resultant wrench is found, the optimal contact forces can be calculated quickly by the combination of the primitive forces corresponding to the vertices of this simplex. The proposed two-phase runs very fast and the obtained contact forces are very close to the optimal solution.
(5) Presents a method for unknown objects grasping using six-axis force/torque sensors
Geometrically unknown objects grasping is a challenging problem in robotic grasping. Mounting a six-axis force/torque sensor on the end of each robotic arm, we design a three-fingered robotic hand grasping system. Compared to previous work based on computer vision, our system is simpler and model reconstruction is not necessary. The position of the contact point and corresponding normal direction on the object can be calculated from the sensor information once contact occurs. Therefore, beside as an actuator to grasp the object, the robotic hand is a touching sensor and capable of "exploration" the shape of unknown objects through continual contact to find suitable force-closure grasp configurations.
(6) Develops a novel three-fingered detours hand driven by shape memory alloy
The artificial muscle is the development trend of actuator for multi-fingered dexterous hand. Shape memory alloy is a special metal material with shape memory effect. It is a promising artificial muscle material because of its small size. It is also capable of integrating sensing, driving and transmission. In this thesis, a three-fingered dexterous hand named ZJUHand is developed. It is a compact hand with9-DOFs and the shape memory alloy is built into the fingers and palm. ZJUHand is the first SMA-driven dexterous hand in China, and filled related blank in domestic. Compared to the foreign SMA-driven dexterous hands, ZJUHand possess many advantages such as simple structure, compact size, light weight, low cost, etc. It is particularly suitable to install on the end of manipulator for fine operation with light load.
引文
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