机器人手预成型的连续模型

Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics Pub Date : 1989-11-14 DOI:10.1109/ICSMC.1989.71403

T. Nguyen, H. Stephanou

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引用次数: 17

摘要

给出了抓手连续空间的公式，并推导了机械手预成型的算法程序。该方法包括使用重心坐标系和重心细分方案从任务空间映射到手部构型的拓扑空间。讨论了模型实现体系结构。描述了用于准备捏握的四指手的预成型的实例。该方法的基础是直观的和数学的。直观的公式主要是基于对人手功能和运动活动的观察。数学公式是基于点集拓扑和组合拓扑

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A continuous model of robot hand preshaping

The continuous spaces of grasps are formulated and an algorithmic procedure is derived for robot hand preshaping. The proposed procedure consists of a mapping from a task space to a topological space of hand configurations using a barycentric coordinate system and a barycentric subdivision scheme. A model implementation architecture is discussed. Examples showing the preshaping of a four-finger hand in preparation for pinch grasping are described. The basis of the approach is both intuitive and mathematical. The intuitive formulation was based primarily on observations of functionalities and motor activities of the human hand. The mathematical formulation is based on point-set topology and combinatorial topology.<>

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Conference proceedings. IEEE International Conference on Systems, Man, and Cybernetics

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