具有滚动接触的多指手操作运动学及其算法

THE KINEMATICS AND ITS ALGORITHM FOR MULTI-FINGERED HAND MANIPULATION WITH ROLLING CONTACTS

研究多指手滚动操作的运动学及其算法 .简要介绍了滚动接触运动方程 ,根据接触的运动学约束 ,建立了描述物体与关节速度关系的关节——物体运动方程 ,并给出物体与手指表面间相对角速度的表达式 .得到的关节——物体运动方程、相对角速度表达式和接触运动方程构成了形式简洁的滚动操作运动学方程 .结合对方程的分析 ,进一步给出了多指手滚动操作物体跟踪期望的运动轨迹时 。

The kinematics and its algorithm for multi fingered hand manipulation with rolling contacts are investigated. At first, the rolling contact kinematic equation is briefly introduced. Then, according to the kinematic characteristics of the contact constraints, a joint object kinematic equation which describes the velocity relation between the finger joints and object is established, and the expression of the relative angle velocity between the finger surfaces and the object surface is derived. By combining the obtained equations with the contact kinematic equation, a simple and explicit kinematic equation of multi fingered hand rolling manipulation can be set up. Based on that equation, an algorithm is presented to generate joint trajectories for a multi fingered hand manipulating an object to track a given trajectory.