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| 机器人多指滚动操作的协调运动生成 | |
| 引用本文： | 秦志强,李泽湘,熊有伦. 机器人多指滚动操作的协调运动生成[J]. 机械工程学报, 2000, 36(2): 85-90 |
| 作者姓名： | 秦志强 李泽湘 熊有伦 |
| 作者单位： | 1. 上海交通大学机器人研究所,上海,200030 2. 香港科技大学 3. 华中理工大学 |
| 基金项目： | 国家自然科学基金，香港科技大学基金 |
| 摘 要： | 分析了多指手操作基于运动学速度控制方法和主从规划方法的缺点，指出这些方法都不是真正的协调运动规划方法。通过引入最优抓取所确定的抓取姿态集合约束和衡量抓取质量指标的函数，为多指操作提出了一协调运动生成算法。当初始的抓取姿态是最优抓取时，算法协调各手指运动保持抓取最优，当初始的抓取姿态不是最优抓取时，通过定义抓取质量指标，算法生成手指运动优化抓取姿态。应用ＨＫＵＳＴ多指灵巧手验证了生成算法。 |
| 关 键 词： | 多指操作 抓取质量指标 运动规划 |
| 修稿时间： | 1999-01-22 |
COORDINATED MOTION GENERATION FOR MULTIFINGERED MANIPULATION WITH ROLLING CONTACTS |
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| Qin Zhiqiang,Li Zexiang,Xiong Youlun. COORDINATED MOTION GENERATION FOR MULTIFINGERED MANIPULATION WITH ROLLING CONTACTS[J]. Chinese Journal of Mechanical Engineering, 2000, 36(2): 85-90 | |
| Authors: | Qin Zhiqiang Li Zexiang Xiong Youlun |
| Affiliation: | Qin Zhiqiang (Shanghai Jiaotong University) ;Li Zexiang (Hong Kong University of Science and Technology) ;Xiong Youlun (Huazhong University of Science and Technology ) |
| Abstract: | The defects of kinematics-based velocity motion control method and master-slave motion planning scheme of multifingered manipulation are highlighted, respectively, and it is illustrated that they are not coordinated motion planning methods. Then, by introducing constraints of optimal grasping configuration into finger motion generation process, a coordinated motion generation algorithm for multifingered manipulation is proposed. The algorithm generates the coordinated finger motions to keep the grasp in an optimal set when the initial grasp is optimal, or optimize the grasp by defining grasp quality measure during manipulation process, when the initial grasp is not optimal. Finally, several manipulation experiments to verify the proposed algorithm are presented. |
| Keywords: | Multifingered manipulation Grasp quality measure Motion planning |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |