CN1285449C - Polygonal-target multi-finger grab planning method and apparatus - Google Patents
Polygonal-target multi-finger grab planning method and apparatus Download PDFInfo
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Abstract
The present invention relates to a method and a device for the multiple-finger grabbing plan of a skillful robot hand. The method has the grabbing planning steps that a target image is obtained by using a digital video camera by an image obtaining and processing device, and is converted into a three-dimensional solid figure which is convenient for a computer to express, and a polygon on a grabbing plane is finally output. Then, a grabbing planning device determines all practicable grabbing plans of a workpiece by a grabbing hand with four fingers, the optimum grabbing plan is determined and is output to a controlling and driving device to control and drive the multiple-finger grabbing hand, and the grabbing operation is realized. The device is composed of the image obtaining and processing device, the grabbing planning device, the controlling and driving device and the multiple-finger skillful hand. The multiple-finger grabbing plan of the present invention can make an anthropomorphic robot have the skillful operation and the accurate force and motion control capability for objects with various shapes, and the anthropomorphic behavior is realized.
Description
Technical field
The present invention relates to a kind of multi-fingered grasp planing method and device, particularly a kind of multi-fingered grasp planing method and device of polygon object.
Background technology
People are in the research to intelligent robot, the tidemark of anthropomorphic robot as robot research, also always realizing that class people behavior is as the target of dreaming of.Have meticulous maneuvering capability and, be that the robot research field is the most complicated, the research contents of most critical at the multi-finger clever hand of structure and function patrix apery hand.At present, multi-finger clever hand is succeeded in developing all over the world, has position and force-sensing ability, can realize that dexterity grasps and operates.
But, the control of the finger motion of multi-finger dexterous hand of robot also is in the man-machine interaction stage with manipulation, the personnel that typically use by the data glove that has a plurality of sensors on wearing after, by the action of pointing in the data glove, utilize computer network, realize Dextrous Hand is carried out remotely-controlled operation.Present multi-finger clever hand also only is that the machinery of staff extends, and can't break away from the people and independently finishes basic action control and operate.Therefore, the multi-fingered grasp planing method of multi-finger clever hand is very crucial with research to anthropomorphic robot's application, multi-fingered grasp planning also is one of significant application of artificial intelligence technology, this technology is once breakthrough, just can make the anthropomorphic robot have dexterous manipulation and accurate power control and motion control ability, realize class people behavior the object of different shape.
Summary of the invention
The object of the present invention is to provide a kind of polygon object to refer to grab section planning method and device more, when grasping the polygon object for multi-finger clever hand with four fingers, can determine automatically to carry out grasping manipulation, realize that multi-finger clever hand grasps polygonal intellectualized operation with the best extracting scheme.
In the robot multi-finger Grasp Planning, the shape sealing is to judge that robot multi-finger grasps the rational basic norm of scheme, satisfies the contact position of the finger of shape sealing requirement at crawled object, just can guarantee the stable and balance of crawled object.Under this arrangement form, any external disturbance power that acts on the crawled object can both be born by the manipulator finger that contacts with object.For the nothing friction extracting problem of planar object, only need four fingers just can reach shape sealing requirement usually through suitably arranging.
The present invention discloses the multi-fingered grasp planing method of the assurance shape sealing of a plane polygon object, and the finger of multi-finger clever hand that promptly has four fingers is in the automatic planning and the control problem of the borderline distributing position of extracting of workpiece.Extracting object of the present invention is a kind of workpiece of prismatic shape, and promptly the extracting surface of workpiece is perpendicular to the plane of grasping the plane, all extracting points of workpiece are positioned on the same plane.According to shape sealing requirement, do not consider to point frictional force with crawled object contact position.
Design of the present invention is: instantaneous triangle notion requires to have done a kind of new geometric interpretation to the shape sealing, promptly utilizes instantaneous triangle notion to set up and satisfies four fingers of shape sealing requirement and the method for expressing of polygonal position relation.And determine the contact area of four fingers on the arbitrary polygon object according to this method for expressing, the contact area of each finger all has independence, and promptly each finger can guarantee to constitute the extracting scheme that shape is sealed with its excess-three finger independently the moving of zone of oneself.
Below relevant theory is described:
1. instantaneous leg-of-mutton definition and character thereof
Point can be described with instantaneous leg-of-mutton characteristic with the contact problems of plane.Instantaneous triangle is with referring to that any three fingers are to a triangle of the intersection point formation of the direction line of the contact force of workpiece in the hand more.Instantaneous notion comes from plane kinematics, instantaneously is meant the instantaneous with fast point of two objects that do relative motion, if one of them to as if fixing, then instantaneous is the instantaneous center of rotation of another object.Three of the existence of combination in twos of three fingers are instantaneous.Instantaneous triangle has following character:
Instantaneous leg-of-mutton limit has directionality, and its forward is identical with the contact force direction at this place, limit.
Instantaneous leg-of-mutton limit in the same way and incorgruous limit.If the direction of the inner square of any arbitrarily of instantaneous leg-of-mutton two limit diabolos is identical, then claim these two limits to be limit in the same way, another limit is called incorgruous limit.
Instantaneous triangle has two kinds of forms: three limits are in the same way instantaneous triangle and two instantaneous triangles on limit, an incorgruous limit in the same way all.
For two instantaneous triangles on limit in the same way, the forward one on incorgruous limit fixes on two in the same way in the folded fan-shaped range of the forward on limit.
2. determine that according to instantaneous triangular nature the 4th finger satisfies the position range that the shape sealing requires
Do not consider to point and crawled object between friction situation under, utilize instantaneous triangle can determine the 4th finger contact point guarantee to grasp under balance (the satisfying the shape sealing requires) condition with respect to instantaneous leg-of-mutton position.Below provide contact force direction two theorems relevant of the 4th finger that satisfies the shape sealing condition with locality condition.
Theorem 1: for two instantaneous triangles on limit in the same way, the direction line position of the contact force of the 4th finger must with instantaneous leg-of-mutton two in the same way the limit intersect, the direction of contact force must two in the same way the limit negative direction surrounded fan-shaped in.
Theorem 2: for equal in the same way the instantaneous triangle in three limits, the direction line position of the contact force of the 4th finger can not intersect with instantaneous leg-of-mutton any limit.The direction condition of the contact force of the 4th finger: the forward of contact force must be opposite in the direction of the square of same point with any frontier juncture of instantaneous triangle about inner any the direction of square of instantaneous triangle.
For achieving the above object, the present invention adopts following technical scheme:
A kind of polygon object multi-fingered grasp planing method is characterized in that the step of Grasp Planning is:
A. obtain the image that absorbs the prismatic shape workpiece with processor by image, and processing is converted into the 3D solid figure of being convenient to computer representation, the polygon on the plane of output extracting at last;
B. determine the whole feasible extracting scheme of the Dextrous Hand of four fingers by the Grasp Planning device, and determine best extracting scheme about given workpiece;
C. export of control and the driver implementation extracting work of the finger position signal of best extracting scheme by the Grasp Planning device to finger grip.
Above-mentioned grabber planning determines that the step of feasible extracting scheme is:
A. with the instantaneous triangle of intersection point formation of any three fingers in the multi-finger clever hand to workpiece work contact force direction line;
B. determine that according to instantaneous triangle the 4th finger satisfies the position range that the shape sealing requires on the workpiece polygon.
The above-mentioned polygon according to workpiece determines that the step of the contact position scope that satisfy shape sealing requirement of the 4th finger on polygon is:
A. judge whether the border four-tuple exists the extracting scheme that satisfies shape sealing requirement;
B. satisfy 4 extracting limits of the extracting scheme of shape sealing requirement for existence, set up feasible extracting scheme, the steps include:
(a) according to first three bar limit with and on the inter normal at two end points places formed have two instantaneous triangles on limit in the same way, determine the feasible extracting section on the 4th limit;
(b) determine to satisfy on the pairing extracting limit, an incorgruous limit crawl position section that the shape sealing requires;
(c) determine to satisfy the crawl position section that the shape sealing requires on two capable in the same way pairing extracting limits, limit
C. according to the size condition of keeping in balance of finger space position distribution situation and finger contact force, determine to satisfy the best crawl position on four crawl position sections that the shape sealing requires.
Whether the above-mentioned border four-tuple of judging exists the step of the extracting scheme that satisfies shape sealing requirement to be:
A. select three to grasp the limit, construct 8 with the inter normal at two end points places on each bar limit and have two instantaneous triangles on limit in the same way, if can not construct the instantaneous triangle on limit in the same way, then there is not the extracting scheme that satisfies shape sealing requirement in this border four-tuple;
B. if four edges satisfies following two conditions, then there is the extracting scheme that satisfies the shape sealing condition in this four edges:
(a). the direction condition: the angle between the inter normal on the 4th limit and the instantaneous leg-of-mutton incorgruous limit forward is greater than 90 degree;
(b). locality condition: if at least more than one instantaneous leg-of-mutton two friendship non-NULLs of the projection of limit on four edges in the same way in 8 instantaneous triangles.
The method that satisfies the feasible extracting section that shape sealing requires on the 4th limit of the above-mentioned four-tuple of deckle circle really is: all instantaneous leg-of-mutton two in the same way the limit can guarantee the feasible extracting section of shape sealing condition exactly on the 4th limit the 4th friendship sum that grasps projection on the limit.
The step that satisfies the crawl position section of shape sealing requirement on the above-mentioned definite incorgruous limit is:
A. name grasping the limit earlier: for forming instantaneous leg-of-mutton border four-tuple, naming the Polygonal Boundary at place, instantaneous leg-of-mutton incorgruous limit is E2, article two, called after E1 and E3 are distinguished in the pairing extracting in limit limit in the same way, concrete according to determining the position on limit in the same way with respect to two on instantaneous triangle at the intersection point of the inter normal on two limits, if intersection point is the starting point on limit in the same way, then with this in the same way the extracting limit at the inter normal place that overlaps, limit be E3, another limit is E1, otherwise be E, the bar limit is E3 in addition, and the 4th limit is E4;
B. the method that satisfies the crawl position section of shape sealing requirement on definite pairing extracting limit, the incorgruous limit of instantaneous triangle is:
(A). the inter normal with the start position place of E1, E2 and E3 is constructed instantaneous triangle, obtain intersection point J21, the J23 of the inter normal n2 of start position of E2 and E1, E3 start position inter normal n1, n3, obtain the intersection point J42 of the inter normal n4 of E2 start position inter normal n2 and E4;
(a) if intersection point J21, j23 and intersection point J31 lay respectively at the both sides of n4, then E2 is feasible shape sealing and grasps section from the start position to the final position; J31 is the start position normal n1 of E1 and the intersection point of E3 start position inter normal n3;
(b) otherwise move n2, make intersection point J21, the J23 of n2 and n1 and n3 and the both sides that intersection point J31 lays respectively at n4, then n2 moves terminal point until the E2 limit from current location, and this section just satisfies first feasible section that the shape sealing requires along the forward of E2; The feasible location of n4 also is the terminal point from current location to the E4 limit;
(c), illustrate that the instantaneous triangle that comprises starting point extreme position intersection point does not exist if can not make J21, J23 and intersection point J31 be positioned at the both sides of n4 just behind the mobile n2; Perhaps;
(B). construct instantaneous triangle with the inter normal that the final position of E1, E2 and E3 is located, obtain intersection point J21 ', the J23 ' of E2 terminal point extreme position normal and E1, E3 final position inter normal n1, n3, obtain the intersection point J42 of E2 start position inter normal n2 and E4 inter normal n4;
(a). if intersection point J21 ', J23 ' and intersection point J31 ' lay respectively at the both sides of n4, then E2 is feasible shape sealing and grasps section from the terminal point to the starting point; J31 ' is the intersection point of E3 final position inter normal n3 and E1 terminal point inter normal n1;
(b). otherwise move n2 along the terminal point sensing start position direction of E2, make J21 ', J23 ' and intersection point J31 ' be positioned at the both sides of n4 just, then begin start position to E2 from the current location of n2, this section is the feasible extracting section of the shape sealing contact point of E2;
(c). if can not make behind the mobile n2 that J21 ', J23 ' and intersection point J31 ' are positioned at the both sides of n4 just, illustrate that then the instantaneous triangle that comprises terminal point limit intersection point does not exist.
The method that satisfies the crawl position section of shape sealing requirement on the above-mentioned definite pairing extracting in limit limit in the same way is: cross the vertical line that the J42 point is made E1 and E3, get corresponding intersection point P1, P3, broken line P1-J42-P3 may be with E1 and E3 separated into two parts, all there is feasible crawl position section in broken line P1-J42 equally also with inter normal n2 on E2 and the E4 and n4 separated into two parts on these two parts:
A. the part that comprises E2 in the plane domain that broken line P1-J42-P3 cuts open: the feasible extracting section of n3 among the E3: cut open by broken line P1-J42-P3 among the E3 and remaining part; The feasible extracting section of n1 among the E1: P1 '-P1 ", determining of P1 ' position wherein: go up the inter normal n3 of any given contact point for E3, the position of P ' is the subpoint of intersection point on E1 of n3 current location and n4, P " the position be end points or the P1 of E1;
B. the part that comprises E1 in the plane domain that broken line P1-J42-P3 cuts open: the feasible extracting section of n1 among the E1: the part of being cut open by broken line P1-J42-P3 from E1;
The feasible extracting section of n3 among the E3: P3 '-P3 ", determining of P3 ' position wherein: go up the inter normal n1 of any given contacting points position for E1, P3 ' is the subpoint of the intersection point of the current location of n1 and n4 at E3; P3 " the position be end points or the P3 of E3.
The method of the extracting scheme of above-mentioned definite the best is: with Wrist-sport amplitude, finger motion amplitude, the finger contact point is found out best extracting scheme to being evaluation index to position and finger contact force relative size from all feasible extracting scheme.
A kind of device that is used for polygon object multi-fingered grasp planing method, comprise that control and driver control drive a multi-finger clever hand, it is characterized in that having an image to obtain the input that is connected a Grasp Planning device with the output of processor, the output of Grasp Planning device connects the input of control and driver.
The present invention compared with prior art, have following conspicuous outstanding feature and remarkable advantage: the present invention adopts image to obtain the image that absorbs the prismatic shape workpiece with processor, and the polygon of handling on the output extracting plane, back is given the Grasp Planning device, the Grasp Planning device carries out Grasp Planning and determines best extracting scheme, thereby input to control and driver, control the driving multi-finger clever hand, realize that the multi-finger clever finger grasps the intellectualized operation of polygon object.Multi-fingered grasp of the present invention planning can make the anthropomorphic robot have dexterous manipulation and accurate power control and motion control ability to the object of different shape, realization class people behavior.
Description of drawings
Fig. 1 is the apparatus structure block diagram of present embodiment.
Fig. 2 is the working plan of the Grasp Planning device of Fig. 1 example.
Fig. 3 is the instantaneous triangle that is formed by three contact points.
Fig. 4 has two the instantaneous triangle on limit and the contacting points position graphs of a relation of four fingers thereof in the same way
Fig. 5 has three the instantaneous triangle on limit and the contacting points position graphs of a relation of four fingers thereof in the same way
Fig. 6 is three and grasps the instantaneous triangular graph that the limit constitutes
Fig. 7 is the figure that determines the feasible extracting contact point of four edges section
Fig. 8 is a feasible extracting contact point section of determining incorgruous limit, sets up the instantaneous leg-of-mutton figure of finding the solution with three start position inter normals that grasp the limit.
Fig. 9 is a feasible extracting contact point section of determining incorgruous limit, sets up the instantaneous leg-of-mutton figure of finding the solution with three final position inter normals that grasp the limit.
Figure 10, Figure 11, Figure 12 and Figure 13 be determine limit in the same way feasible extracting contact point section find the solution figure.
The specific embodiment
A preferential embodiment of the present invention is:
Referring to Fig. 1, the device of this polygon object multi-fingered grasp planing method, comprise that control and driver 3 controls drive a multi-finger clever hand 4, have an image to obtain the input that is connected a Grasp Planning device 2 with the output of processor 1, the output of Grasp Planning device 2 connects the input of control and driver 3.
Referring to Fig. 1, the method for this polygon object multi-fingered grasp planning is: utilize digital camera to obtain the image of target by Image Acquisition and processor 1, and convert it into the 3D solid figure of being convenient to computer representation, the polygon on the plane is grasped in output at last.The polygon that the Grasp Planning device is sent here according to Image Acquisition and processor 1 and the concrete physical dimension of multi-finger clever hand produce the extracting scheme, the information that constraint, quality evaluation index etc. embody customer requirements is grasped in its keyboard input, exports best extracting scheme at last and controls for control and driver 3 and drive to refer to handgrip 4 more.
For the work of Grasp Planning device 2 is described, earlier Fig. 3-Figure 13 is done more detailed explanation:
Fig. 3 explains the instantaneous triangle that is formed by three contact points, three small circles among the figure are represented three fingers, dotted line represents to grasp the face profile of object, solid line is represented the border that can grasp on the face profile, capitalization A, B, C represent finger and polygonal contact position, and lowercase a, b, c are exactly the formed instantaneous triangle of contact force direction line (being place, left-hand seat finger contact, workpiece border inter normal) of three fingers and workpiece.
Fig. 4 has two contacting points position relations of the instantaneous triangle on limit and four fingers thereof in the same way, and instantaneous triangle is a-b-c, two in the same way the limit be respectively ab and bc.According to theorem 1, satisfy shape sealing the 4th contact line of action of force must with instantaneous leg-of-mutton two in the same way limit bc and ab intersect, and according to the direction requirement of theorem 1, being subjected on the force direction of contact force, position must intersect with bc earlier, and then intersects with ab.
Fig. 5 has three contacting points position relations of the instantaneous triangle on limit and four fingers thereof in the same way.Article three, the direction of frontier juncture distance of any in triangle inside is all identical.Big arrow among the figure has been represented the feasible location and the direction of the 4th contact force.
The instantaneous triangle that the end points place inter normal on three extractings of Fig. 6 limit is constituted, for any given polygonal three limits, make inter normal at the end points place on these three limits respectively, the inter normal of workpiece is made at two end points places on such three limits, is called workpiece extreme position inter normal.Article three, the limit has 6 extreme position inter normals, respectively takes out an extreme position inter normal on three limits, just can constitute an instantaneous triangle, and 6 inter normals can constitute 8 instantaneous triangles.This 8 instantaneous triangles or be two instantaneous triangles on limit in the same way entirely, or be three instantaneous triangles on limit in the same way entirely.Among the figure two instantaneous triangles on limit in the same way.
Fig. 7 judges that whether given four edges exists shape sealing extracting scheme, determines the feasible contact point scope of four edges.Among Fig. 7 two of instantaneous triangle Q1-Q2Q4 limit Q1Q2, Q2Q4 are t1t2 to the friendship of the projection of E4 in the same way, and the angle of the inter normal n2 of the inter normal n4 of E4 and instantaneous leg-of-mutton incorgruous limit border, place E2 is greater than 90 degree, so 4 limit E1, E2 of this polygon object, E3, E4 exist and satisfy the extracting scheme that the shape sealing requires.
Fig. 8 determines the feasible finger contact section on incorgruous limit, when two the limit is positioned at the start position on extracting limit, place in the same way, and the area of feasible solutions method for solving on incorgruous limit.
Fig. 9 determines the feasible finger contact section on incorgruous limit, when two the limit is positioned at the final position on extracting limit, place in the same way, and the area of feasible solutions method for solving on incorgruous limit.
Figure 10 determines the feasible finger contact section on limit in the same way, comprises the part of E2 in the zone that broken line p1-J42-p3 cuts open, and n4 is near E3, so be the independent variable parameter with the position on E3 of n3, the position range of n1 changes with the variation of n3 position.
Figure 11 determines the feasible finger contact section on limit in the same way, comprises the part of E2 in the zone that broken line p1-J42-p3 cuts open, and n4 is near E1, so be the independent variable parameter with the start position of n1 on E1, the position range of n3 changes with the variation of n1 position.
Figure 12 determines the feasible finger contact section on limit in the same way, comprises the part of E4 in the zone that broken line p1-J42-p3 cuts open, and n4 is near E1, so be the independent variable parameter with the start position of n1 on E1, the position range of n3 changes with the variation of n1 position.
Figure 13 determines the feasible finger contact section on limit in the same way, comprises the part of E4 in the zone that broken line p1-J42-p3 cuts open, and n4 is near E3, so be the independent variable parameter with the start position of n3 on E3, the position range of n1 changes with the variation of n3 position.
Fig. 2 provides the working procedure of Grasp Planning device.
The job step of Grasp Planning device is as follows:
1. judge whether given border four-tuple exists the extracting scheme that satisfies the shape sealing condition
Comprise and set up the border four-tuple, promptly find out four edges from polygon, this is a combinatorial problem of selecting 4 limits from the polygon on n bar limit.Judge whether the border four-tuple exists the method for extracting scheme to be: 1) select three 8 of limit structures to have two instantaneous triangles on limit in the same way; If can not construct two instantaneous triangles on limit in the same way, then there is not the extracting scheme that satisfies shape sealing requirement in this border four-tuple.Otherwise carry out next step judgement.2) if following two conditions are satisfied on the 4th limit, then there is the extracting scheme that satisfies shape sealing requirement in these 4 limits.Two conditions be:
The direction condition: the angle between the inter normal direction of four edges and the instantaneous leg-of-mutton incorgruous edge direction is greater than 90 degree.
Locality condition: if in 8 instantaneous triangles at least more than one instantaneous leg-of-mutton two in the same way the limit at the 4th friendship non-NULL that grasps the projection on the limit.
Among Fig. 7 two of instantaneous triangle Q1-Q2-Q4 limit Q1Q2, Q2Q4 are t1t2 to the friendship of the projection of E4 in the same way, and the inter normal n4 of E4 and instantaneous triangle are able to the angle of the inter normal n2 of Polygonal Boundary limit, place, limit E2 greater than 90 degree, so these polygonal these 4 limit E1, E2, E3, E4 exist and satisfy the extracting scheme that the shape sealing requires.
2. grasp the limit name
For forming instantaneous leg-of-mutton border four-tuple, the naming method on first three bar limit is: the border at place, instantaneous leg-of-mutton incorgruous limit is E2, and the 4th limit is E4.E1 and E3 be according to stipulating the position on limit in the same way with respect to two on instantaneous triangle at the intersection point of the inter normal on two limits, is the starting point on limit in the same way as intersection point, then with this in the same way the extracting limit at the inter normal place that overlaps, limit be E3, another limit is E1, otherwise on the contrary.
3 determine to satisfy on the four-tuple four edges of border the feasible extracting section of shape sealing extracting condition
All instantaneous leg-of-mutton two friendship sums of limit projection on four edges in the same way can guarantee on the four edges between feasible region that the shape sealing grasps exactly.In Fig. 7 and since two of instantaneous triangle P1-Q2-P4 in the same way the limit covered E4 fully the 4th friendship of grasping the projection on the E4 of limit, so E4 all is feasible extracting sections in length range.
4 determine the feasible extracting section of contact point on the incorgruous limit.
Constituting limit, instantaneous leg-of-mutton three inter normal places is E1, E2 and E3, and wherein E2 is the extracting limit at place, instantaneous leg-of-mutton incorgruous limit.For E4 go up on the feasible crawl position more arbitrarily, the direction line (being the inter normal of E4) of this some place finger contact force be n4, the two-end-point of E1 and E3 is made inter normal separately respectively excessively, then has 4 inter normals.There are four intersection points in these 4 inter normals, if four intersection point branches are listed in the both sides of n4, then the feasible extracting section on the E2 is made up of two parts, otherwise only has the feasible extracting section on the E2.The method of the feasible crawl position of concrete calculating is as follows:
1) constructs instantaneous triangle with the inter normal at the start position place of E1, E2 and E3.
Obtain the start position inter normal of E2 and intersection point J21, the J23 of E1, E3 start position inter normal n1 and n3, obtain the intersection point J42 of E2 start position inter normal n2 and n4.
If intersection point J21, J23 and intersection point J31 lay respectively at the both sides of n4, then E2 is feasible shape sealing and grasps section from the start position to the final position.
Otherwise the forward along E2 moves n2, makes intersection point J21, the J23 of n2 and n1 and n3 and the both sides that intersection point J31 lays respectively at n4, and then n2 moves up to terminal point from current location, and this zone is exactly that E2 satisfies first feasible extracting section that the shape sealing is grasped.The feasible crawl position of n4 also is the terminal point from current location to the E4 limit.
If can not make J21, J23 and intersection point J31 be positioned at the both sides of n4 just behind the mobile n2, illustrate that then the instantaneous triangle that comprises starting point limit intersection point does not exist.
2) inter normal of locating with the final position of E1, E2 and E3 is constructed instantaneous triangle.
Obtain the terminal point extreme position normal of E2 and intersection point J21 ', the J23 ' of E1, E3 final position inter normal n1 and n3, obtain the intersection point J42 of E2 start position inter normal n2 and n4.
If intersection point J21 ', J23 ' and intersection point J31 ' lay respectively at the both sides of n4.Then E2 is feasible shape sealing and grasps section from the final position to the start position.
Otherwise begin to move towards the start position direction from the terminal point of E2, make J21 ', J23 ' and intersection point J31 ' be positioned at the both sides of n4 just, then begin start position to E2 from the current location of n2, this zone is the feasible extracting section of the shape sealing contact point of E2.The feasible crawl position of n4 also is that starting point from the E4 limit is to current location.
If can not make J21 ', J23 ' and intersection point J31 ' be positioned at the both sides of n4 just behind the mobile n2, illustrate that then the instantaneous triangle that comprises terminal point limit intersection point does not exist.
5 satisfy the feasible extracting contact point section of shape sealing condition in the same way on the limit.
After having determined the feasible extracting section of E2,, determine two feasible extracting sections on limit E1 and the E3 in the same way according to given E2 and the contacting points position on the E4.These two in the same way the feasible sector sizes on the limit depend on each other for existence, after promptly the feasible section on the E1 was determined, for some positions that E1 goes up given inter normal n1, the feasible section on the E3 was also fixed thereupon.According to the position relation between the inter normal of the intersection point J42 position of n4 and n2 and E1, E3 limit end points, the feasible section on the limit may be made up of two parts in the same way, and the method for solving of each part is as follows.
Cross the J42 point and do about E1 and E3 vertical line, respectively corresponding intersection point is p1, p3.Whether be positioned at according to J42 within the inter normal limit section of E1, E3, broken line p1-J42-p3, broken line p1-J42-p3 is equally also with inter normal n2 on E2 and the E4 and n4 separated into two parts with E1 and E3 subdivision if may be two parts.All have feasible contact point section on these two parts, method for solving is as follows.As shown in figure 13.
1) first's (part that comprises E2 in the plane domain that broken line p1-J42-p3 cuts open) finds the solution as follows: if n4 is near E3 in this zone, so be the independent variable parameter with the position of n3, the position range of n1 changes with the variation of n3 position, sees Figure 10.Otherwise, be the independent variable parameter with the position of n1, the position range of n3 changes with the variation of n1 position, sees Figure 11.
The feasible extracting section of n3 among the E3: cut open by broken line p1-J42-p3 among the E3 and remaining part.
The feasible extracting section of n1 is P1 '-P1 among the E1 ".The method for solving of P1 ' position is that for the inter normal n3 of the last any given contacting points position of E3, the position of P1 ' is the current location of n3 and the subpoint of intersection point on E1 of n4.P1 " the position depend on following condition: the intersection point of establishing n1 and n3 is that the intersection point of J13, n3 and n4 is that the intersection point of J34, n3 and n2 is J32; then the area of feasible solutions of n1 is for guaranteeing at J34 on the inter normal n3 between J13 and J32, so P1 " the position be end points or the p1 of E1.As shown in Figure 8.
2) second portion (part that comprises E4 in the plane domain that broken line p1-J42-p3 cuts open) is found the solution as follows: if n4 is near E3 in this zone, so be the independent variable parameter with the position of n3, the position range of n1 changes with the variation of n3 position, sees Figure 12.Otherwise, be the independent variable parameter with the position of n1, the position range of n3 changes with the variation of n1 position, sees Figure 13.
The feasible extracting section of n1 among the E1: the part of being cut open by broken line p1-J42-p3 from E1.
Feasible extracting section P3 '-P3 of n3 among the E3 ", wherein P3 ' determines method: go up any given contacting points position for E1, p3 is the projection of the intersection point of the current location of n1 and n4 at E3.P3 " the position depend on following condition: be located on the inter normal n1; the intersection point of n1 and n3 is that the intersection point of J13, n1 and n4 is that the intersection point of J14, n1 and n2 is J12; then the feasible extracting section of n3 is for guaranteeing at J14 on the inter normal n1 between J13 and J12, so P3 " the position be end points or the p3 of E3.As shown in figure 12
The feasible contact position that Figure 12 and Figure 13 are respectively when n4 is near E3 in the close E1 of n4, the second area in the first area is determined situation.
6 determine the Optimal Grasp position
Obtain between a feasible catching block finger contact position interval of the i.e. sealing of assurance shape on each bar limit through above step.Change along with the variation of n4 position between the feasible region on each bar limit, determine current 4 according to the size condition such as keep in balance of finger space position distribution situation, finger contact force and grasp borderline Optimal Grasp positions.
7 determine the Optimal Grasp scheme
After all border four-tuple of given polygon object are all handled,, therefore must from all feasible scheme, find out optimum extracting scheme because all might there be an extracting scheme in each border four-tuple.The present invention is with motion amplitude, the finger contact point relative position of Wrist-sport amplitude, finger, and factors such as finger contact force relative size are estimated whole schemes as evaluation index, therefrom obtain optimum extracting scheme.
Claims (7)
1. polygon object multi-fingered grasp planing method is characterized in that the step of Grasp Planning is:
A. obtain the image that obtains the prismatic shape workpiece with processor by image, and processing is converted into the 3D solid figure of being convenient to computer representation, the polygon on the plane of output extracting at last;
B. determine the whole feasible extracting scheme of the handgrip of four fingers by the Grasp Planning device, and determine best extracting scheme workpiece;
C. export control and the driver implementation grasping movement of the finger position signal of best extracting scheme by the Grasp Planning device to finger grip;
The Grasp Planning device determines that feasible extracting scheme step is:
D. with the instantaneous triangle of intersection point formation of any three fingers in the multi-finger clever hand to workpiece work contact force direction line;
E. determine that according to instantaneous triangle the 4th finger satisfies the position range that the shape sealing requires.
2. polygon object multi-fingered grasp planing method according to claim 1 is characterized in that determining that according to the polygonal shape of workpiece the 4th refers to that the step of the contact position scope that satisfies shape sealing requirement on polygon is:
A. judge whether the border four-tuple exists the extracting scheme that satisfies shape sealing requirement;
B. satisfy 4 extracting limits of the extracting scheme of shape sealing requirement for existence, set up feasible extracting scheme, the steps include:
(a) according to first three bar limit and the instantaneous triangle formed, determine the feasible extracting section on the 4th limit;
(b) determine to satisfy on the incorgruous limit crawl position section that the shape sealing requires;
(c) determine to satisfy the crawl position section that the shape sealing requires on two capable in the same way limits
C. according to the size condition of keeping in balance of finger space position distribution situation and finger contact force, determine to satisfy the best crawl position on four crawl position sections that the shape sealing requires.
3. polygon object multi-fingered grasp planing method according to claim 2 is characterized in that judging whether the border four-tuple exists the step of the extracting scheme that satisfies shape sealing requirement to be:
A. select three 8 of limit structures to have two instantaneous triangles on limit in the same way, if can not construct two instantaneous triangles on limit in the same way, then there is not the extracting scheme that satisfies shape sealing requirement in this border four-tuple;
B. if four edges satisfies following two conditions, then there is the extracting scheme that satisfies the shape sealing in this four edges:
(a) direction condition: the angle between the inter normal on the 4th limit and the instantaneous leg-of-mutton incorgruous edge direction must be greater than 90 degree;
(b) locality condition: if at least more than one instantaneous leg-of-mutton two friendship non-NULLs of the projection of limit on the 4th limit in the same way in 8 instantaneous triangles.
4. polygon object multi-fingered grasp planing method according to claim 2 is characterized in that all instantaneous leg-of-mutton two friendship sums of limit projection on the 4th limit in the same way, can guarantee the feasible section that the shape sealing is grasped exactly on the 4th limit.
5. polygon object multi-fingered grasp planing method according to claim 2, the step that it is characterized in that determining satisfying on the incorgruous limit crawl position section that the shape sealing requires is:
A. will grasp the limit name earlier: for forming instantaneous leg-of-mutton border four-tuple, naming the polygonal border at place, instantaneous leg-of-mutton incorgruous limit is E2, article two, called after E1 and E3 are distinguished in the limit in the same way, specifically determine the position on limit in the same way with respect to two on instantaneous triangle according to the intersection point of the inter normal on these two limits, if intersection point is the starting point on limit in the same way, then with this in the same way the extracting limit at the inter normal place that overlaps, limit be E3, another limit is E1, otherwise be E1, another limit is E3, and the 4th limit is E4;
B. the method that satisfies the crawl position section of shape sealing requirement on definite incorgruous limit is:
(A). the inter normal with the start position place of E1, E2 and E3 is constructed instantaneous triangle, obtain intersection point J21, the J23 of the inter normal n2 of start position of E2 and E1, E3 start position inter normal n1, n3, obtain the intersection point J42 of the inter normal n4 of E2 start position inter normal n2 and E4;
(a) if intersection point J21, J23 and intersection point J31 lay respectively at the both sides of n4, then E2 is feasible shape sealing and grasps section from the start position to the final position; J31 is the intersection point of E1 start position inter normal n1 and E3 start position inter normal n3;
(b) otherwise move n2, make intersection point J21, the J23 of n2 and n1 and n3 and the both sides that intersection point J31 lays respectively at n4, then n2 moves until terminal point from current location, and this section is exactly to satisfy first feasible section that the shape sealing is grasped along the forward of E2; The feasible location of n4 also is the terminal point from current location to the E4 limit;
(c), illustrate that the triangle that comprises starting point limit intersection point does not exist if such normal does not exist;
Perhaps,
(B). construct instantaneous triangle with the inter normal that the final position of E1, E2 and E3 is located, obtain intersection point J21 ', the J23 ' of E2 terminal point extreme position normal and E1, E3 final position inter normal n1, n3, obtain the intersection point J42 of E2 final position inter normal n2 and E4 inter normal n4;
(a) if intersection point J21 ', J23 ' and intersection point J31 ' lay respectively at the both sides of n4, then E2 is feasible shape sealing and grasps section from the final position to the starting point; J31 ' is the intersection point of E3 final position inter normal n3 and E1 terminal point inter normal n1;
(b) otherwise point to the start position direction along the terminal point of E2 and move n2, make J21 ', J23 ' and intersection point J31 ' be positioned at the both sides of n4 just, then begin start position to E2 from the current location of n2, this section is the feasible extracting section of the shape sealing contact point of E2;
(c) if can not make behind the mobile n2 that J21 ', J23 ' and intersection point J31 ' are positioned at the both sides of n4 just, illustrate that then the instantaneous triangle that comprises terminal point limit intersection point does not exist.
6. polygon object multi-fingered grasp planing method according to claim 5, the method that it is characterized in that determining satisfying on the limit in the same way the crawl position section that the shape sealing requires is: cross the vertical line that the J42 point is made E1 and E3, get corresponding intersection point P1, P3, broken line P1-J42-P3 may be with E1 and E3 separated into two parts, all there is feasible crawl position section in broken line P1-J42 equally also with inter normal n2 on E2 and the E4 and n4 separated into two parts on these two parts:
A. the part that comprises E2 in the plane domain that broken line P1-J42-P3 cuts open:
The feasible extracting section of n3 among the E3: cut open by broken line P1-J42-P3 among the E3 and remaining part;
The feasible extracting section of n1 among the E1: P1 '-P1 ", wherein P1 ' position is definite: the inter normal n3 that goes up any given contact point for E3; The position of P ' is the subpoint of intersection point on E1 of n3 current location and n4; P " the position be end points or the P1 of E1;
B. the part that comprises E4 in the plane domain that broken line P1-J42-P3 cuts open:
The feasible extracting section of n1 among the E1: the part of being cut open by broken line P1-J42-P3 from E1;
The feasible extracting section of n3 among the E3: P3 '-P3 ", determining of P3 ' position wherein: go up the inter normal n1 of any given contacting points position for E1, P3 ' is the subpoint of the intersection point of the current location of n1 and n4 at E3, P3 " the position be E3 end points or P3.
7. polygon object multi-fingered grasp planing method according to claim 1, it is characterized in that the method for determining best extracting scheme is: with Wrist-sport amplitude, finger motion amplitude, the finger contact point is found out best extracting scheme to being evaluation index to position and finger contact force relative size from all feasible extracting scheme.
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| US8875460B2 (en) | 1999-11-05 | 2014-11-04 | Faus Group, Inc. | Direct laminated floor |
| US8209928B2 (en) | 1999-12-13 | 2012-07-03 | Faus Group | Embossed-in-registration flooring system |
| US7836648B2 (en) | 2002-05-03 | 2010-11-23 | Faus Group | Flooring system having complementary sub-panels |
| US7836649B2 (en) | 2002-05-03 | 2010-11-23 | Faus Group, Inc. | Flooring system having microbevels |
| US8099919B2 (en) | 2002-05-03 | 2012-01-24 | Faus Group | Flooring system having microbevels |
| US8112958B2 (en) | 2002-05-03 | 2012-02-14 | Faus Group | Flooring system having complementary sub-panels |
| US8181407B2 (en) | 2002-05-03 | 2012-05-22 | Faus Group | Flooring system having sub-panels |
| US8448400B2 (en) | 2002-05-03 | 2013-05-28 | Faus Group | Flooring system having complementary sub-panels |
| US8201377B2 (en) | 2004-11-05 | 2012-06-19 | Faus Group, Inc. | Flooring system having multiple alignment points |
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