同步三指式末端执行器的目标位姿估计方法

To determine the target pose in the process of end-effector capturing, this study develops a pose estimation method for a simultaneous three-fingered end effector based on contact force information. The pose estimation method is proposed after analyzing the geometric constraint characteristics of the end effector. First, the contact finger is estimated with the contact force. Then, the contact position and normal direction are estimated by combining the kinematic analysis results of the end effector. The spatial plane intersection method is adopted for pose estimation with two effective contact information. When obtaining redundant contact information, the least squares method is adopted to update the estimation results. Finally, simulation validates the effectiveness of the estimation method. The proposed method has general applicability to a certain extent and specific applicability to claw-shaped end effectors.