| 多指手抓取操作的仿真 |
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| 引用本文： | 卢江舟,熊有伦.多指手抓取操作的仿真[J].系统仿真学报,1997,9(2):76-82. |
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| 作者姓名： | 卢江舟 熊有伦 |
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| 作者单位： | 北京航空航天大学机器人研究所，华中理工大学机械学院信息与智能技术研究所 |
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| 摘 要： | 本文分析了多指手仿真的基本任务，提出适合多指手的仿真系统结构，构造了一个基于微机的多指手仿真系统；该系统提供了能够在微机上运行的、交互式、具备动画显示功能的图形仿真工具；设计了友好的人机交互界面；同时本文对多指手的力规划、运动规划和姿态选择等问题作了详细的讨论；最后对多指手装配进行了仿真
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| 关 键 词： | 机器人多指手 机器人仿真 多指手操作规划 |
Simulation Software for Multifingered Hand Manipulation |
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| Lu Jiangzhou Beijing University of Astronautics and Aeronautics Xiong Youlun Zhao Dongbo Huazhong Univeristy of Science School Technology,Wuhan.Simulation Software for Multifingered Hand Manipulation[J].Journal of System Simulation,1997,9(2):76-82. |
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| Authors: | Lu Jiangzhou Beijing University of Astronautics and Aeronautics Xiong Youlun Zhao Dongbo Huazhong Univeristy of Science School Technology Wuhan |
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| Institution: | Lu Jiangzhou Beijing University of Astronautics and Aeronautics Xiong Youlun Zhao Dongbo Huazhong Univeristy of Science School Technology,Wuhan 430074 |
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| Abstract: | This paper describes simulation system for multifingered hand in which our attention is paid to the following four aspects : (1)selecting the suitable structure for the multifingered hand simulation;(2) providing an efficient graphic tool;(3) designing the friendly computer interface;(4) solving the grasping planning problem. After analyzing the tasks of the simulation , A suitable structure is provided. A efficient PC based graphic tool is put forward with the ability to animate the manipulation of the robot and the multifingered hand. A friendly interface is finished and grasping planning is discussed in detail. Finally, a examples is given. |
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| Keywords: | Multifingered hand\ Robot simulation\ Grasping planning |
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