Research on grasping forces optimization of a soft-finger dexterous hand

To contact constraints model of soft finger, replacing paired friction cones by linear paired polyhedral, so as to realize the linearization of contact constraints model. The linear constraints inequalities of grasping forces is derived, and the objective function of the smallest sum of output torque squares is built, so the torque optimization is translated into quadratic programming. By the simplex method, quadratic programming is solved quickly, greatly improve the real-time performance. At last, the effectiveness of proposed algorithm was verified in numerical simulation with grasping a plane object when there is a soft finger contact.