具有连杆耦合机构的灵巧手指逆运动学

针对机器人灵巧手指末端的两个关节采用平面四连杆机构进行运动耦合时,直接求解手指的逆运动学非常困难,提出一种基于近似解的查表插值逆运动学算法:以末端两关节角度相等时的手指逆运动学封闭解作为近似解,采用查表和线性插值对近似解进行修正,从而得到手指逆运动学的精确解.该算法的计算量略大于近似算法,且具有很高的精度.

Inverse kinematics of dexterous finger with linkage mechanism

When the last two joints of robotic dexterous finger are mechanically coupled by means of planar four-bar linkage mechanism,it is very difficult to directly solve the inverse kinematics of the finger.A new approximate solution based look-up table and interpolation method is proposed.In the algorithm,the closed solution,which has been calculated when assuming positions of the last two joints are equal,is used as approximate solution,and then the solution is modified by look-up table and linear interpolation,...