摘要
研究了多指手的优化抓取问题,提出了多指手抓取物体接近方向的概念,讨论了接近方向的确定方法,并在此基础上推导了手物系统的坐标交换关系,建立了基于转角位置度的多指手优化抓取算法,采用VC++编制了优化程序。该方法对三指十二自由度的HTT801多指手抓取典型的长方形物体进行了实际优化抓取,获得了比较满意的结果。
To solve the problem of optimal grasp of multi-fingered robot hands, the concept of 'grasp approach direction', its determination and addresses the coordinate transformation relation is presented. The optimal grasp algorithm is set up based on the goal function of position-grade. The practical optimal grasp of HIT801 multifingered hand, which consists of three fingers and twelve DOFs, is implemented, and satisfied results are obtained.
出处
《电机与控制学报》
EI
CSCD
北大核心
2003年第1期62-66,共5页
Electric Machines and Control
基金
黑龙江省博士后基金项目(LRB-KY01041)
