求解含接触约束的最优时间轨迹规划，兼顾抓握稳定与环境交互。
A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts
- 基于二阶锥规划建模，统一处理摩擦、接触和运动约束。
- 在三个仿真任务中实现快速稳定轨迹，包括非抓握操作。
- 适合机器人抓取与复杂环境交互场景，如工业搬运。
典型操作任务中，机械臂携持物体移动时需满足手部物体运动约束，这些约束可能源于任务特性或物体与环境的接触。本文研究在确保抓握不脱落且满足动力学、环境接触及无滑移等运动约束的前提下，计算使物体运动时间最短的关节力矩与抓握力。提出一种考虑手-物及物-环境接触处非线性摩擦锥约束的二阶锥规划（SOCP）公式。由于SOCP是凸优化问题，可使用内点法在多项式时间内高效求解。通过三个示例的仿真验证了方法的通用性与有效性，其中包括非抓握操作任务。
原文摘要 · Abstract (English)
A typical manipulation task consists of a manipulator equipped with a gripper to grasp and move an object with constraints on the motion of the hand-held object, which may be due to the nature of the task itself or from object-environment contacts. In this paper, we study the problem of computing joint torques and grasping forces for time-optimal motion of an object, while ensuring that the grasp is not lost and any constraints on the motion of the object, either due to dynamics, environment contact, or no-slip requirements, are also satisfied. We present a second-order cone program (SOCP) formulation of the time-optimal trajectory planning problem that considers nonlinear friction cone constraints at the hand-object and object-environment contacts. Since SOCPs are convex optimization problems that can be solved optimally in polynomial time using interior point methods, we can solve the trajectory optimization problem efficiently. We present simulation results on three examples, including a non-prehensile manipulation task, which shows the generality and effectiveness of our approach.
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