Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which res...Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot′s hand and does not change the number of the path′s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots.展开更多
The manipulation and constraint equations are established by considering the pure rolling motion in a dexterous hand as two passive joints. According to mapping relation among the motion of the system, the differentia...The manipulation and constraint equations are established by considering the pure rolling motion in a dexterous hand as two passive joints. According to mapping relation among the motion of the system, the differential kinematics and mobility are studied. The minimal structure for realizing the task motion of the object is obtained, and the conditions for dexterous manipulation are presented. Finally, some rolling manipulations are used as examples to demonstrate the applicability of approach proposed.展开更多
基金Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No: RL200002)
文摘Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot′s hand and does not change the number of the path′s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots.
基金This project is supported by Scientific Research Foundation for ReturnedOverseas Chinese Scholars, Education Ministry of China and ProvincialNatural Science Foundation of Shanxi, China (No.2000C37).
文摘The manipulation and constraint equations are established by considering the pure rolling motion in a dexterous hand as two passive joints. According to mapping relation among the motion of the system, the differential kinematics and mobility are studied. The minimal structure for realizing the task motion of the object is obtained, and the conditions for dexterous manipulation are presented. Finally, some rolling manipulations are used as examples to demonstrate the applicability of approach proposed.
