摘要
本文探讨当拟人双臂各夹持形状复杂物体,在没有视觉情况下运动,在任意方位指定的位置上相互协调装配的问题.应用同伦论,导出一个适合计算机判定的判别式.此法计算量少.
This paper explores the problem of the coordinated assembly of two camplicatedly-shaped objects by two movine anthropomorphic arms.A discriminant based on algebraic topology has been proposed for use in a computer.Using this discriminant,any arbitrary orientation of the objects at a designated position in three-dimensional space may be achieved without the aid of vision.This method is straightforward and involves the least amount of computing time over proposed for such an operation.
出处
《湘潭大学自然科学学报》
CAS
CSCD
1994年第2期148-151,共4页
Natural Science Journal of Xiangtan University
关键词
计算机判定
装配
代数拓扑
Compuler determinatin,dynamic coordinated assembly