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.

## 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.

/

• 分享
• 用微信扫码二维码

分享至好友和朋友圈