纯滚动点接触三指机器人手的位置分析

Displacement Analysis on Three-Fingered Robot Hand with Rolling Contact

在认为指端与物体构成纯滚动点接触情况下,利用三指手与物体间的速度关系,提出了一种三指手位置分析的简便算法,可解决由手指关节转角确定物体位置及指端和物体上接触点位置,或由物体位置确定手指关节转角及指端和物体上接触点位置等问题.

Under the condition of pure rolling contact between each of the fingertips and the object,this paper puts forward a simple algorithm of displacement analysis on three-fingered robot hand from the relationships in velocities between the finger-joint motion and the motion of an object.By using the algorithm,we can determine the position and orientation of the object with the angle of each active finger-joint given or determine the angle of each finger-joint with the position and orientation of the object given.