站务确定指关节转角的运动规律和指关节力矩的-北京邮电大学学报.pdf

文章编号：1007-5321(2005)02-0054-05 人手到灵巧手指尖运动映射的实现 刘 杰1， 孙汉旭2， 张玉茹3 (1．北京机械工业 自动化所机器人中心，北京 100112；北京邮电大学自动化学院，北京 100876； 2．北京航空航天大学机器人研究所，北京 100083) 摘要：在人手到灵巧手的运动映射方面，人手和灵巧手在运动学上的异构现象造成了二者之间运动映射的困难．本 文研究灵巧手的抓持规划，通过主从操作来实现．提出了一种基于虚拟手指的直角空间指尖运动映射方法实现人 手到灵巧手的运动映射，以数据手套为人机接口，测量手指的关节角度，建立手的运动学模型，根据运动学模型计 算出指尖运动轨迹，完成指尖在抓取过程中的运动学分析，记录指尖在直角坐标空间的运动轨迹，实现了人手和灵 巧手的三维运动仿真，完成了三维工作空间的可视化．在虚拟环境下，运动仿真验证了映射算法，证明了其有效性． 关键词：主从操作；灵巧手；运动映射 中图分类号：TP24．1 文献标识码：A MappingHumanHandMotiontoDexterousRoboticHands LIUJie1, SUNHan-xu2, ZHANGYu-ru3 (1.BeijingResearchInstituteofAutomationforMachineryIndustry,Beijing100011,China； 2.SchoolofAutomation, BeijingUniversityofPostsandTelecommunications,Beijing100876,China;3.RoboticsInstituteoIBeijingUniversity ofAeronauticsandAstronautics,Beijing 100083,China) Abstract:Describes the implementation of grasp planning for robotic dexterous hands. Human grasp strategy is learned through master-slave manipulation,A method of fingertip mapping is developed based on virtual fingers in cartesian space. Using the dataglove as human machine interface, joint anglesarerecorded and digit trajectoriesarecomputedusingforwardkinematics. The kinematics of movement of all digits is analyzed during grasp.The fingertip trajectories during grasp arerecorded in Cartesian space.A virtualenvironment isdevelopedtovisualizethe motionofthehumanhandandtherobothands. Visualizationofthe3Dworkspaceis accomplished. The mapping result is verified in the virtual environment, suggests that the mappingalgorithmiscorrect. Keywords:master/slavemanipulation；dexteroushands;motionmapping