三指灵巧手抓取柔软织物运动轨迹规划  

Motion trajectory planning of three-fingered dexterous hand grasping flexible fabric

作　　者：张蕾[1] 韦攀东 李鹏飞[1] 田丽[1] ZHANG Lei WEI Pandong LI Pengfei TIAN Li(College of Electronics and Information, Xi＇an Polytechnic University, Xi＇an, Shaanxi 710048, China)

机构地区：[1]西安工程大学电子信息学院,陕西西安710048

出　　处：《毛纺科技》2017年第4期44-49,共6页Wool Textile Journal

基　　金：陕西省科技计划项目(2016GY-136);陕西省自然科学基础研究计划(2016JQ5106)

摘　　要：为实现灵巧手抓取柔软织物,对抓取织物的三指灵巧手进行运动轨迹规划。首先,设计灵巧手机械结构及建立其运动学模型;其次,根据被抓取织物的特性和手指运动要求,采用关节空间和笛卡尔空间相结合的轨迹规划方法,关节空间采用五次多项式规划算法,笛卡尔空间采用直线插补规划算法,保证灵巧手稳定的到达抓取点;最后,利用MATLAB提供的机器人工具箱进行实验。结果表明,三指灵巧手能够准确的运动到织物抓取点,轨迹规划符合预期要求。In order to realize flexible fabric is grasped by dexterous hand, motion trajectory planning is used for three-fingered dexterous hand grasping fabric. Firstly, structure of dexterous hand is designed and kinematics model is established. Secondly, according to the feature of fabric and the requirements of fingers＇ motion, the joint space trajectory planning and cartesian space trajectory planning is combined, quantic polynomial planning algorithm is used in the joint space, space linear interpolation planning algorithm is used in cartesian space, to assurance the dexterous hand can stably reach to the grasp point. Finally, simulation experiment is carried out by MATLAB/Robotics Toolbox. The simulation results show that three fingered dexterous hand can accurately reach to the point of grasping fabric, and the trajectory planning meet the requirements.

关 键 词：三指灵巧手 五次多项式规划 空间直线插补规划 MATLAB 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]