| 机械手操作过程中零件姿态的测定 |
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| 引用本文： | 陈辉,宋爱国.机械手操作过程中零件姿态的测定[J].东南大学学报(自然科学版),1998,28(4):41-43. |
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| 作者姓名： | 陈辉 宋爱国 |
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| 作者单位： | 东南大学仪器科学与工程系 |
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| 基金项目： | 国家高技术航天领域863－2－7项目资助 |
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| 摘 要： | 讨论了机械手在操作过程中零件姿态的测定问题。利用安装在机械手两个不同位置的角度传感器测得的零件张角以及机械手手指与零件接触时的位置坐标，采用一定的算法可唯一确定零件的姿态。最后进行了仿真实验，并给出了实验结果。
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| 关 键 词： | 姿态 零件 机械手 操作 |
Measuring the Pose of a Part in the Process of Manipulator Operation |
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| Chen Hui,Song Aiguo,Huang Weiyi.Measuring the Pose of a Part in the Process of Manipulator Operation[J].Journal of Southeast University(Natural Science Edition),1998,28(4):41-43. |
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| Authors: | Chen Hui Song Aiguo Huang Weiyi |
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| Abstract: | The problem of measuring the pose of a part in manipulator operation is discussed. An algorithm is presented for computing the pose of the part with angle sensing and the positions between robot fingers and the part by two angle sensors mounting in the manipulator. Simulation results are given. |
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| Keywords: | pose part polygon |
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