一种双拇指手及其控制系统

A Double-thumb Hand and the Architecture of Its Control System

介绍了北京科技大学机器人研究所研制的机器人多指手爪及其控制系统。该控制系统既可以对手爪的各个手指进行位置和速度控制，又可以对多指手进行抓握力控制。控制系统软件提供的各种功能模块可以对多指手爪进行动作编程，使手爪和机器人手臂配合完成对给定物体的抓取和简单操作。此外，该控制系统还具有利用主机键盘进行示教再现的辅助编程功能。

A multifingered robot hand and its control system developed in the Robotis Research Institute,University of Science & Technology Beijing,is introduced. Finger position control, finger speed control and the hand grasping force control can be done using the control system. The motion needed for the fingers of the hand to complete the tasks for grasping an object or doing some simple manipulation can be programmed using the functional modules of software developed for the control system.A teach-playback function, which can be used as an auxiliary tool for the programming,is also developed for the control system.