机械手手部位姿的数值模拟

The Numerical Analogy of Position and Pose of a Manipulator Hand

该文论述了拟合由若干个离散点构成的曲线Ｌ及其基本矢的正交多项式法（ＯＰＭ）和三次样条函数法（ＣＳＭ）。当离散点为曲线Ｌ上的精确点时使用ＣＳＭ更精确；而当离散点是曲线Ｌ的非精确点时使用ＯＰＭ更实用。实例计算验证了这两种方法的有效性。由于拟合结果是以多项式表示的曲线方程，因此可方便地用于机械手的实时控制，使其手部掌心沿拟合曲线运动，而其手部姿态由拟合曲线的基本矢确定。

In this paper,the orthogonal polynomial method(OPM) and the cubic spline method(CSM) are introduced in order to analogize a curve L and its basic vectors(i.e.,tagent,normal and binormal vector).The curve L is determined by a discrete set of sampled points r i (i=0,1,…,m) If the discrete set of sampled points accurately lies at a curve, it is more precise to use CSM,and if not,it is more practicable to use OPM.The effectiveness of the two methods is tested by example.Because the results of analogy are some polynomials,these results can conveniently be adopted in timely control of a manipulator hand in order that may its centre lie at the fitting curve and its pose many coincide with the basic vectors of the fitting curve.