杨洋. 灵巧手操作的重构规划[J]. 机器人, 2004, 26(5): 439-443.
引用本文: 杨洋. 灵巧手操作的重构规划[J]. 机器人, 2004, 26(5): 439-443.
YANG Yang. Reconstruction Planning of Dexterous Manipulation[J]. ROBOT, 2004, 26(5): 439-443.
Citation: YANG Yang. Reconstruction Planning of Dexterous Manipulation[J]. ROBOT, 2004, 26(5): 439-443.

灵巧手操作的重构规划

Reconstruction Planning of Dexterous Manipulation

  • 摘要: 根据人类利用滑动或滚动方式进行灵巧操作的几种模式,在多指灵巧手-物体的抓持系统中,把实现这些灵巧操作模式的规划问题作为一个位形空间的重构问题进行全局和局部级的操作规划,开发了实现灵巧操作的规划算法.仿真结果表明了方法的有效性和正确性.

     

    Abstract: Based on several modes of human dexterous manipulation, this paper discusses the contact and manipulation kinematics in the system consisting of a dexterous hand and a grasped object. The manipulation planning is considered as a reconstruction problem of grasping configuration in global and local levels, and the planning algorithm is developed. Simulation on planning a dexterous hand manipulating a smooth object demonstrates that the developed algorithm is effective and valid.

     

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