机器人多指手灵巧抓持规划

抓持规划是机器人灵巧手要完成预期任务所面临的一个重要问题．本文采用主从操作方式进行灵巧手的指尖抓持规划，由人手决定抓持接触点的位置， 灵巧手通过调整其手掌的位置和姿态保证各手指在人手指定的位置上抓持物体．根据灵巧手的操作特点，提出以关节灵活度来描述关节运动各向同性的能力，并据此定义灵巧手操作灵活度，作为灵巧手抓持位形性能的评价指标．以最大操作灵活度作为优化目标函数，寻求最优的抓持性能．同时，借鉴人手的抓持经验，通过主从操作方式，建立从人手到灵巧手的运动映射关系，从而为手掌位置优化问题提供合理的初值．仿真实验结果说明了文中方法的有效性．

GRASP PLANNING FOR ROBOTIC MULTI-FINGERED HANDS

Grasp planning is one of the key issues for dexterous robotic hands to accomplish desired tasks. A promising approach is to teach the robot hands by human operator. Due to the technical limitation of human machine interface, the grasp configuration learning from the human hand needs to be improved. This paper presents a method to optimize the grasp from the initial configuration provided by the human hand. A quality measure based on joint motion isotropy is defined to evaluate grasp configurations. Human grasp experience is used to provide a desired initial configuration. The position and orientation of the palm is optimized based on the quality measure. The process of optimization is simulated in a virtual environment and the resulting optimal grasps illustrate the validity of the method.