机器人多指手的控制与传感器技术

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卢江舟, 熊有伦, 杨叔子. 机器人多指手的控制与传感器技术[J]. 机器人, 1995, 17(3): 184-192.. LU Jiangzhou, XIONG Youlun, YANG Shuzi. THE CONTROL AND SENSOR TECHNOLOGY OF MULTI-FINGERED HAND. ROBOT, 1995, 17(3): 184-192..

摘要本文阐述了多指手控制的独特性质和存在的困难，较为全面地讨论了现有控制方法及其优、缺点；介绍了主动感知、多传感器数据融合等方面的研究情况；同时简述了多指手的运动学、动力学、负载分配等方面的研究情况．

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	卢江舟
	熊有伦
	杨叔子

关键词 ：多指手控制, 多传感器信息融合, 主动感知

Abstract：This paper gives a survey to the research works of control and sensor for multi-fingered hand. Attention is paid to the introduction of the control method and active sensing. The kinematics,dynamics and loadsharing are also stated.

Key words： Control of multi-finger hand multisensor integration active sensing

收稿日期: 1994-11-18

作者简介: 卢江舟：男，27岁，博士生．研究领城：机器人控制，多指手控制与规划，非完整运动规划．
熊有伦：男，56岁，教授，博士生导师．研究领城：机器人学、精密测量技术，智能夹持．

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