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A fast procedure for optimizing dynamic force distribution in multifingered grasping.

Yu Zheng, Wen-Han Qian

    IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
    |December 26, 2006
    PubMed
    Summary
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    This study introduces a faster method for dynamic force distribution (DFD) to balance external forces on grasped objects. The new algorithm significantly speeds up real-time computation by optimizing contact forces for safety and energy efficiency.

    Area of Science:

    • Robotics
    • Control Theory
    • Optimization

    Background:

    • The dynamic force distribution (DFD) problem involves calculating contact forces to counteract external wrenches on grasped objects.
    • Minimizing the sum of normal force components enhances safety and conserves energy, transforming the DFD problem into a linear programming (LP) problem.

    Discussion:

    • The DFD problem, when optimized for minimal normal forces, forms a polytope where solutions reside at vertices.
    • The polytope is defined by grasp configuration and remains constant despite changes in the external wrench direction.
    • As the wrench direction changes, the solution vertex sequentially moves to adjacent vertices within the fixed polytope.

    Key Insights:

    • The DFD problem can be efficiently solved by pre-computing the polytope and vertex adjacencies offline.

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  • An online algorithm efficiently finds new solution vertices by searching adjacent vertices from the previous solution.
  • This approach achieves a thousandfold speedup compared to traditional LP solvers like the simplex method.

    • Outlook:

    • Enables real-time dynamic force control in complex robotic manipulation tasks.
    • Potential for integration into advanced grasping systems requiring high-speed force balancing.
    • Further research could explore extensions to non-linear force distribution problems.