摘要
抓持规划是机器人灵巧手完成预期任务所必需面临的一个重要问题。本文针对所研制的具有对称结构的三指灵巧手的抓持及运动规划问题进行了分析,确定了以关节运动灵活度作为抓持性能评价的方法来进行实际抓持位形选取,并据此建立了优化目标函数,实现了三指手抓取不同半径物体的通用运动规划方法,并在此基础上进行了抓持运动规划实验,证明了该方法的有效性。
Grasp planning is one of the key issues for dexterous robotic hands to accomplish desired tasks. An effective trajectory planning method was presented for the design of dextrous hands with symmetrical configuration. This method employs the quality measure based on joint motion isotropy to select the hands＇ initial grasp configuration and accomplish the hands＇ motion planning. This method was qppliod to the real robot system, and the operating results illustrate the validity of the method.
出处
《机床与液压》
北大核心
2007年第9期76-78,共3页
Machine Tool & Hydraulics
关键词
灵巧手
抓持规划
灵活度
Dexterous hand
Grasp planning
Dexterity
