摘要
介绍了在机械灵巧手虚拟遥操作系统中,关于采用立体视觉方法检测计算操作人员手势姿态及手指各关节参数方面的研究。多指灵巧机械手“复制”操作人员手的动作姿态,目的是进行不规则形状物体的抓取方法及可选择性抓取动作的直接控制研究。
The work on the calculation of the human being's hand gesture parameters is introduced. The result is used in the direct, real-time grasping action control of a dexterous mechanical gripper in a tele-operation system. The hand grasping gesture images were captured by a computer stereo vision system. Two calibration planes method were used in the calculations of the calibration data and the 3D coordinates of the points on the hand-joints, in order to get the joint angles and the fingertips' information of the hand in the space. The fingertip matching method for the calculation of the action parameters of the dexterous gripper was proposed. The purpose of the research is to guide the dexterous mechanical gripper to grasp some object with irregular shapes or do some selectable gripping. The simple algorithms used in the research makes it possible to perform a real-time control of the grasping action control of the dexterous gripper. Satisfactory result was obtained.
出处
《高技术通讯》
EI
CAS
CSCD
2003年第5期55-59,共5页
Chinese High Technology Letters
关键词
机械手
灵巧手
动作控制
虚拟遥操作系统
立体视觉
手势姿态
双标定平面方法
凸包理论
机器人
Hand gesture detection, Action control of a multi-finger dexterous gripper, Two calibration planes method, Convex hull theory, Computer stereo vision system
