基于指尖位置的人手与HIT/DLR灵巧手运动映射  

Motion mapping between human hand and HIT/DLR dexterous robot hand based on fingertip positions

作　　者：胡海鹰[1] 谢宗武[1] 李家炜[1] 刘宏[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《哈尔滨工业大学学报》2007年第11期1727-1731,共5页Journal of Harbin Institute of Technology

基　　金：国家自然科学基金资助项目(60275032)

摘　　要：分别建立人手和HIT/DLR机器人灵巧手的几何模型,并分析两者之间的结构差异及其产生的运动映射问题.通过数据手套测得人手关节角度,利用人手模型和人手运动学关系计算得到人手指尖位置,通过改进的指尖位置的映射方法,将人手的运动映射到机器人灵巧手上,解决了人手运动空间和灵巧手空间不一致的问题.仿真试验结果表明该映射方法是有效和直观的,能满足对HIT/DLR机器人灵巧手遥操作的需要.This paper constructs a human hand model and a HIT/DLR dexterous robot hand model respectively, then analyzes their structural differences and the motion mapping problem due to these differences. The dataglove collects the angles of human hand finger and the fingertip positions can be calculated based on the human hand model. The human hand motion is mapped to the dexterous hand through the modified fingertip positions mapping method. This method solves the mapping difficulty caused by the workspace difference be- tween the two models. The simulation results show that this mapping method is effective and intuitive, and can satisfy the demand of teleoperation tasks.

关 键 词：人手模型 HIT/DLR灵巧手 指尖位置 运动映射 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]