基于非完整运动规划的多指手灵巧操作
Dexterous Manipulation of Multifingered Hand Based on Nonholonomic Motion Planning
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摘要: 灵巧操作是多指手操作的一个重要方面,探讨实现这种操作的纯滚动方法.首先利 用纯滚动的非完整特性,进行非完整运动的最优路径规划,然后根据规划结果应用多指手操 作运动学方程确定手指的运动.为多指手灵巧操作的实现提供了一条途径.Abstract: Dexterous manipulation is an important topic of multifingered study. Dexterous manipulation with rolling contacts is addressed in this paper. Based on the nonholonomy of rolling, a near-optimal planning method of nonholonomic motion is given by Ritz approximation, with the shortest length of contact trajectory on the fingertip face as cost function. With the planning results, according to the proposed multifingered kinematics equation, the motion of finger is generated to realize the desired dexterous manipulation.
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