仿生多指机械手控制策略研究

Research on the Control Strategy about Bionic Multi-finger Robot

对机械手仿生基本操作功能和控制策略进行了研究,定义了平动、滚动和旋转的功能模型,分析了利用重力和力平衡实现的多指手操作方法;利用牛顿欧拉公式建立了三关节指的运动学和动力学方程,论述了灵巧控制在生产自动化中的应用前景。

It researches bionic multi-finger robot's basic function and its controlling strategy, defines function models of flat move, rolling and rotate. The paper also analyses multi-finger operation with gravity and force balance, constructs dynamic formulas with Newton- Euler formula, and presents smart control's applying prospects.