This paper presents a novel approach to numerically describe the interactions between rigid bodies, with a special focus on robotic grasping. Some of the more common approaches used to address such issues rely on satisfaction of a set of strict constraints, descriptive of the expected physical reality of such interactions in practice. However, application of constraint-based methods in a numerical setting may lead to problematic configurations in which, for instance, volumes occupied by distinct bodies may overlap. Such situations lying beyond the range of admissible configurations for constraint-based methods, their occurrence typically results in non-meaningful simulation outcomes. We propose a method which acknowledges the possibility of such occurrences while demoting their occurrence. This is pursued through the use of a penalty-based approach, and draws on notions of mechanical impedance to infer apposite reaction forces. Results of numerical simulations illustrate efficacy of the proposed approach.
翻译:本文件提出了一种从数字上描述僵硬机构之间相互作用的新办法,特别侧重于机器人掌握。用来解决这些问题的一些更常见办法取决于对一系列严格限制的满意程度,并描述实际中这种相互作用的预期实际现实。然而,在数字环境中采用约束性方法可能会造成问题,例如不同机构占用的数量可能会重叠。这种限制性方法的可接受配置范围以外的情况,其发生通常导致非有意义的模拟结果。我们提出一种方法,承认发生这种情况的可能性,同时减少其发生。这是通过采用基于惩罚的方法,并借鉴机械阻碍概念,推推导不相容反应力量。数字模拟的结果说明拟议方法的效果。