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在多指手操作物体时 ,需要根据物体的运动规划各手指的运动 .当手指与物体为滚动接触时 ,这一问题显得非常复杂 .目前 ,主要采用基于运动学的速度控制方法和主从规划方法 .文中分析了这两种方法 ,指出它们都不是真正的协调运动规划方法 .通过引入最优抓取所确定的抓取姿态集合约束和衡量抓取质量指标的函数 ,在不同的条件下 ,提出了不同的协调运动生成算法 .通过应用香港科技大学多指灵巧手进行实验研究表明 ,在同样的操作任务下 ,协调运动生成算法能更有效的完成操作任务 .
When multi-fingered hand-operated objects, the movement of each finger needs to be planned according to the movement of the object, which is very complicated when the finger and the object are in rolling contact with each other. At present, the kinematic-based speed control method and master- Method.The paper analyzes the two methods and points out that they are not a true method of coordinated motion planning.By introducing the optimal set of capture attitude constraints and the function of measuring the quality index, Proposed different coordinated motion generation algorithms.Experimental research using multi-finger dexterous hands of the Hong Kong University of Science and Technology showed that coordinated motion generation algorithms can accomplish the operation tasks more effectively under the same operation tasks.