面向任务的三指手机器人抓取规划研究  

A RESEARCH OF THREE-FINGERS ROBOTIC GRASPING PLAN

作　　者：杨起帆[1] 徐国桦[1] 

机构地区：[1]浙江大学应用数学系

出　　处：《机器人》1995年第6期363-369,374,共8页Robot

摘　　要：本文给出了一种面向任务的三指手爪抓取规划的思路及研究方法，首先根据人手抓取姿态的分类，总结出典型的机器人抓取姿态，并以三指手爪来完成抓取．然后综合考虑任务要求、对象物体的几何物理特性及环境信息，经任务分析，推理出抓取姿态，并通过寻找特征平面，确定出抓取平面，再在抓取平面上进一步规划出３个抓取点，最终完成抓取规划过程．This paper presents a way for research on three-fingered robotic grasping plan. According tothe assortment of human hand graxping, two typical robotic grasping poses for three-fingers grip are sum-maried. Then the task requirements,the geometrical and physical features of the object and the informationfrom the environment are synthesized. Grasp pose is deduced by task analysis, and the graspable plane issought and determined. The grasping plan process is finally carried out by determing three grasping points onthe graspable plane.

关 键 词：机器人 抓取规划 物理特性 控制策略 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]