摘要
灵巧操作是多指手操作的一个重要方面,探讨实现这种操作的纯滚动方法.首先利用纯滚动的非完整特性,进行非完整运动的最优路径规划,然后根据规划结果应用多指手操作运动学方程确定手指的运动.为多指手灵巧操作的实现提供了一条途径.
Dexterous manipulation is an important topic of multifingered study. Dexterous manipulation with rolling contacts is addressed in this paper. Based on the nonholonomy of rolling, a near optimal planning method of nonholonomic motion is given by Ritz approximation, with the shortest length of contact trajectory on the fingertip face as cost function. With the planning results, according to the proposed multifingered kinematics equation, the motion of finger is generated to realize the desired dexterous manipulation.
出处
《自动化学报》
EI
CSCD
北大核心
2000年第1期7-15,共9页
Acta Automatica Sinica
基金
国家自然科学基金资助项目 !( 6 9785 0 0 1 )
关键词
多指手
运动学
灵巧操作
非完整运动规划
机器人
Multifingered hand, kinematics, dexterous manipualtion, rolling contact, nonholonomic motion planning .
