管贻生, 张启先, 李泽湘. 多指手操作:运动学算法和实验[J]. 机器人, 1998, 20(5): 321-332.
引用本文: 管贻生, 张启先, 李泽湘. 多指手操作:运动学算法和实验[J]. 机器人, 1998, 20(5): 321-332.
GUAN Yisheng, ZHANG Qixian, LI Zexiang. MULTIFINGERED HAND MANIPULATION: KINEMATIC ALGORITHMS AND EXPERIMENTS[J]. ROBOT, 1998, 20(5): 321-332.
Citation: GUAN Yisheng, ZHANG Qixian, LI Zexiang. MULTIFINGERED HAND MANIPULATION: KINEMATIC ALGORITHMS AND EXPERIMENTS[J]. ROBOT, 1998, 20(5): 321-332.

多指手操作:运动学算法和实验

MULTIFINGERED HAND MANIPULATION: KINEMATIC ALGORITHMS AND EXPERIMENTS

  • 摘要: 本文探讨了多指手的运动学操作问题,即给出被抓物体所要运动的轨迹,如何用多指手进行操作以实现物体的运动,也即怎样根据物体的运动来确定各手指的运动.我们提出和考察了三种运动学操作算法:广义逆算法、接触轨迹控制算法和抓持优化算法.每种算法各有其特点,可根据具体的操作任务加以采用,甚至可综合用于复杂操作任务的不同阶段.在实验系统HKUSTHAND上以两指手操作蓝球的实验实现了这些算法,考察了其可行性和有效性.

     

    Abstract: In this paper, we address the problem of kinematical manipulation of multifingered hand. Given an object, we want to manipulate it using a multifingered hand to move along a desired trajectory. To this end, we present three kinematical algorithms: generalized inverse algorithm, contact trajectory control algorithm and grasp optimization algorithm. Each algorithm has its own feature and advantage, and we can apply one of them in a manipulation task, even can combine them in a complex task in different stages. The experiments of manipulating a ball u sin g two fingers with disk fingertip, performed on the experimental system HKUST HAND, implement and verify the efficacy of the proposed algorithms.

     

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