多指手抓取操作的仿真

Simulation Software for Multifingered Hand Manipulation

本文分析了多指手仿真的基本任务，提出适合多指手的仿真系统结构，构造了一个基于微机的多指手仿真系统；该系统提供了能够在微机上运行的、交互式、具备动画显示功能的图形仿真工具；设计了友好的人机交互界面；同时本文对多指手的力规划、运动规划和姿态选择等问题作了详细的讨论；

This paper describes simulation system for multifingered hand in which our attention is paid to the following four aspects : (1)selecting the suitable structure for the multifingered hand simulation;(2) providing an efficient graphic tool;(3) designing the friendly computer interface;(4) solving the grasping planning problem. After analyzing the tasks of the simulation , A suitable structure is provided. A efficient PC based graphic tool is put forward with the ability to animate the manipulation of the robot and the multifingered hand. A friendly interface is finished and grasping planning is discussed in detail. Finally, a examples is given.