KU混合机械手的姿态与工作空间分析

2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI:10.1109/URAI.2011.6145984

Hyunhwan Jeong, J. Cheong

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引用次数: 0

摘要

在本文中，我们提出了KU混合手的运动学和姿态分析，允许两种不同的操作模式。分析了KU混合机械手的运动结构和工作空间。我们使用标准抓握分类法来测试KU混合手在各种抓握配置中的能力。我们还提出了具有滚动接触的手部运动规划。

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Posture and workspace analysis of KU hybrid robotic hand

In this paper, we present kinematic and posture analysis of KU hybrid hand, which allows two different operation modes. We analyze kinematic structure and workspace of the KU hybrid hand. We test the ability of KU hybrid hand in making various grasp configurations using standard grasp taxonomy. We also present in-hand motion planning with rolling contact.

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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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