机器人臂／手仿真系统操作物体的研究

为了研究机器人臂／手仿真系统对物体的操作，首先对机器人臂／手系统和物体进行了运动学建模，然后利用建好的机器人臂／手仿真系统，基于机器人臂／手系统的运动学、静力学，实现了右手拿杯倒水、手指拧、斜抛球等操作，最后探讨了机器人臂／手操作物体时，机器人臂关节力矩对灵巧手指端力的影响。实验结果表明，该模型具有建模方便、适用于大部分机器人臂／手系统和利于计算机求解等特点。

Object operations based on robot arm/hand simulation system

To researching into object operations based on robot arm/hand simulation system,a kinematics' model was firstly built.Then by using the robot arm/hand simulation system,which based on the robot arm / hand system kinematics and the statics,some object operations were completed,such as grasping a cup and pouring the water by the right hand,screwing object by finger and throwing the ball obliguely.Finally,the forces on the fingertips influenced by robot arm joint torque when robot arm / hand system operated th...