软指接触约束, 关节力矩优化, 线性约束, 二次规划

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Linearzing the constraints of a soft finger contact model, the linear inequalities of joint torque vector as the variable were derived, which was fulfilling the balance and friction constraints at the same time, and the objective function of the smallest sum of output torque squares was built.The torque optimization in the joint force space was translated into quadratic programming with linear constraint, acquiring the best optimization results of the torque. Using linearization of the soft finger contact model, the non-linear calculation amount was reduced visibly. The quadratic programming with linear constraint can be resolved with the simplex method quickly. The proposed algorithm was implemented on a two-fingered dexterous hand with soft finger contact model for grasping a plane object, and the correctness and real-time capacity of the proposed algorithm were verified．

soft-finger contact constraint;joint torque optimization;linear constraint, quadratic programming