李继婷, 张玉茹, 张启先. 人手抓持识别与灵巧手的抓持规划[J]. 机器人, 2002, 24(6): 530-534.
引用本文: 李继婷, 张玉茹, 张启先. 人手抓持识别与灵巧手的抓持规划[J]. 机器人, 2002, 24(6): 530-534.
LI Ji-ting, ZHANG Yu-ru, ZHANG Qi-xian. GRASP IDENTIFICATION OF HUMAN HANDS AND GRASP PLANNING OF DEXTEROUS HANDS[J]. ROBOT, 2002, 24(6): 530-534.
Citation: LI Ji-ting, ZHANG Yu-ru, ZHANG Qi-xian. GRASP IDENTIFICATION OF HUMAN HANDS AND GRASP PLANNING OF DEXTEROUS HANDS[J]. ROBOT, 2002, 24(6): 530-534.

人手抓持识别与灵巧手的抓持规划

GRASP IDENTIFICATION OF HUMAN HANDS AND GRASP PLANNING OF DEXTEROUS HANDS

  • 摘要: 本文研究灵巧手采用指尖抓持方式时的抓持规划方法.在相同的操作环境和操作对象下,由人手决定抓持接触点的位置,利用人手运动测量装置测量人手抓持位置,通过一定的映射关系将其转换为灵巧手的抓持位置及其掌系的位姿,再根据灵巧手自身的结构通过运动学反解确定其抓持位形.

     

    Abstract: A method for robotic dexterous fingertip grasp planning is presented. The master-slave manipulation method is adopted. The grasp points are determined by human hand wearing the measuring apparatus. And then the data are mapped into the grasp point positions and palm pose of the dexterous hand. The grasp configuration is then solved with inverse kinematics of the dexterous hand.

     

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