| 三手指空间机器人末端执行器的柔顺抓握策略 |
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| 引用本文： | 张庆利,倪风雷,朱映远,党进,刘宏.三手指空间机器人末端执行器的柔顺抓握策略[J].机器人,2011,33(4):427-433. |
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| 作者姓名： | 张庆利 倪风雷 朱映远 党进 刘宏 |
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| 作者单位： | 1. 哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江,哈尔滨,150080
2. 哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江,哈尔滨,150080;德国宇航中心机器人与机电一体化研究所,德国,慕尼黑,82230 |
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| 基金项目： | 国家863计划资助项目(2008AA12A213); 教育部“111”创新引智计划资助项目(B07018) |
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| 摘 要： | 空间机器人在抓握物体时,末端执行器与目标物体之间因接触碰撞而产生的扰动力可能会造成机械臂抖动和位姿改变,甚至将日标物体弹出捕获区,造成捕获失败,针对这一问题,首先介绍了哈尔滨工业大学(HIT)自行研制的三于指窄间机器人末端执行器,对末端执行器抓握日标物体过程中的碰撞扰动力进行了分析,提出了一种柔顺抓握策略以削弱抓握目标...
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| 关 键 词： | 空间机器人 柔顺抓握 交互碰撞 扰动力 三手指末端执行器 |
Compliant Grasp Strategy for Three-fingered Space Robot End-effector |
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| ZHANG Qingli,NI Fenglei,ZHU Yingyuan,DANG Jin,LIU Hong.Compliant Grasp Strategy for Three-fingered Space Robot End-effector[J].Robot,2011,33(4):427-433. |
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| Authors: | ZHANG Qingli NI Fenglei ZHU Yingyuan DANG Jin LIU Hong |
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| Affiliation: | ZHANG Qingli~1,NI Fenglei~1,ZHU Yingyuan~1,DANG Jin~1,LIU Hong~(1,2) (1.State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China,2.Institute of Robotics and Mechatronics,German Aerospace Center,Munich 82230,Germany) |
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| Abstract: | When space robot is capturing an object,the disturbance force produced by interactive collisions may induce the robot arm dithering and distortion;moreover,it may also pop-up the target object away from the capture zone,which will lead to the failure of capturing operation.To solve this problem,the design of three-fingered space robot end-effector of Harbin Institute of Technology(HIT) is introduced firstly,and then the disturbance force produced by interactive collisions during the progress of grasping a t... |
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| Keywords: | space robotics compliance grasp interactive collision disturbance force three-fingered end-effector |
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