| 灵巧手抓持规划的虚拟仿真方法 |
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| 引用本文： | 王莹.灵巧手抓持规划的虚拟仿真方法[J].微计算机信息,2005(15). |
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| 作者姓名： | 王莹 |
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| 作者单位： | 北京航空航天大学机器人研究所 100083 |
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| 基金项目： | 国家自然科学基金项目(59985001)，博士点基金项目(2000000605)支持。 |
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| 摘 要： | 本文介绍在虚拟环境中,通过仿真分析的手段来研究机器人灵巧手抓持规划方案的方法。研究中以人的经验为指导,根据手、物的形状及尺寸等相对关系初步给出定性的抓持方案,以此为基础在虚拟环境中对机器人灵巧手的抓持过程进行仿真分析,判定所给出的抓持规划是否能实现在虚拟环境中的稳定抓持。然后在可行方案的基础上进一步对灵巧手的抓持点位置及抓持姿态进行优化,最终可得到机器人灵巧手对于特定被抓持物的较令人满意的抓持规划方案。
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| 关 键 词： | 虚拟仿真 灵巧手 抓持规划 |
Virtual Simulation Method For Grasp Planning Of Dexterous Robotic Hands |
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| Wang,Ying.Virtual Simulation Method For Grasp Planning Of Dexterous Robotic Hands[J].Control & Automation,2005(15). |
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| Authors: | Wang Ying |
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| Affiliation: | (Robotics Institute of Beijing University of Aeronautics and Astronautics,Beijing 100083) Wang,Ying |
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| Abstract: | In this paper, a virtual simulation method for research of grasp planning of dexterous robotic hands is presented. Firstly based on human experience, shape and dimension of robotic hand and the object to be grasped, the first and approxi-mate grasping plan was give by man. Then simulation is carried out in virtual environment for analyzing grasping process of robotic hand and judgement is made according to whether the grasping is stable in virtual environment. Based on the feasible grasping plan, optimization is carried out on position of contact points and grasping gesture and finally a satisfying grasp planning scheme is reached. |
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| Keywords: | Virtual simulation Dexterous hand Grasp planning |
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