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

通过将软指接触的摩擦约束线性化，推导出满足平衡约束和接触力约束、以关节力矩矢量为变量的线性约束不等式限定条件，构建了各关节力矩平方和最小的二次目标函数，从而将关节力空间中力矩的优化变为线性约束条件下的二次规划问题，以得到最优的关节力矩矢量。采用线性化的软指接触模型，减小了软指接触力约束的计算量。线性约束下的二次优化可直接化为单纯形法可快速解决的线性优化问题，提高了实时性。最后以软指接触情况下的两指灵巧手抓取平面椭圆物体为例进行了关节力矩的优化，证明了算法的有效性和实时性。

软指接触约束, 关节力矩优化, 线性约束, 二次规划

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