H IT/DLR多指手抓取操作研究  

Multi-fingered manipulation with HIT/DLR hand

作　　者：何平[1] 高晓辉[1] 杨磊[1] 刘宏[1] 蔡鹤皋[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2005年第11期1555-1559,共5页Journal of Harbin Institute of Technology

摘　　要：研究了H IT/DLR多指手在抓取操作过程中,其手指关节与被抓物体间的位姿对应关系,并基于多指平面抓取建立了H IT/DLR多指手完整的运动学方程.该算法通过自上而下的层次化结构算法简化了多指运动学的求解过程,避免了传统算法中抓取矩阵和手雅克比矩阵的高维矩阵计算.H IT/DLR多指手的抓取实验表明,该运动学算法能够满足抓取操作中的位置控制要求.A new approach to construct the position/orientation mapping between finger joints and a mampulated object during the grasping of an HIT/DLR hand is presented and the complete kinematic equations of the hand are given with plane grasping manipulation. A hierarchical structure is adopted to simplify the resolution of the kinematics and is helpful in preventing kinematic computation from big matrices, such as the grasping matrix and the hand Jacobian matrix. Finally, a grasping manipulation with an HIT/DLR hand was carried out and the experimental results proved that the new kinematic algorithm can satisfy the position control requirement of grasping manipulation.

关 键 词：多指手 虚拟指节 运动学 抓取操作 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]