摘要
本文研究了指端与物体间为纯滚动接触时三指9关节机器人手操作物体的运动学问题,建立了手指关节运动与物体运动之间的位置关系、速度关系和加速度关系,给出了9个节间的运动约束条件。
This paper discusses the kinematics of manipulating an object by a three-fingered hand with 9 joints,for the case of pure rolling between fingertips and object. The relationships in position, velocity andacceleration between the finger-joint motions and the motion of an object are formulated. And the motionconstraints among 9 joints are established.
出处
《机器人》
EI
CSCD
北大核心
1991年第5期27-31,共5页
Robot
关键词
机器人
运动学
手指
robot
multifingered hand
robot kinematics
