| 基于非完整运动规划的多指手灵巧操作 |
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| 引用本文： | 管贻生, 何永强, 张启先. 基于非完整运动规划的多指手灵巧操作. 自动化学报, 2000, 26(1): 7-15. |
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| 作者姓名： | 管贻生 何永强 张启先 |
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| 作者单位： | 1.北京航空航天大学机器人研究所,北京 |
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| 基金项目： | 国家自然科学基金资助项目 !( 6 9785 0 0 1 ) |
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| 摘 要： | 灵巧操作是多指手操作的一个重要方面,探讨实现这种操作的纯滚动方法.首先利用纯滚动的非完整特性,进行非完整运动的最优路径规划,然后根据规划结果应用多指手操作运动学方程确定手指的运动.为多指手灵巧操作的实现提供了一条途径.
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| 关 键 词： | 多指手 运动学 灵巧操作 纯滚动 非完整运动规划 |
| 收稿时间： | 1998-06-23 |
DEXTEROUS MANIPULATION OF MULTIFINGERED HAND BASED ON NONHOLONOMIC MOTION PLANNING |
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| Guan Yisheng, He Yongqiang, Zhang Qixian. Dexterous Manipulation of Multifingered Hand Based on Nonholonomic Motion Planning. ACTA AUTOMATICA SINICA, 2000, 26(1): 7-15. |
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| Authors: | GUAN Yisheng HE Yongqiang ZHANG Qixian |
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| Affiliation: | 1. Robotics Research Insitute,Beijing University of Aeronautics and Astronautics,Beijing |
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| Abstract: | Dexterous manipulation is an important topic of multifingered study. Dexterous manipulation with rolling contacts is addressed in this paper. Based on the nonholonomy of rolling, a near optimal planning method of nonholonomic motion is given by Ritz approximation, with the shortest length of contact trajectory on the fingertip face as cost function. With the planning results, according to the proposed multifingered kinematics equation, the motion of finger is generated to realize the desired dexterous manipulation. |
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| Keywords: | Multifingered hand kinematics dexterous manipualtion rolling contact nonholonomic motion planning . |
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