机器人三指灵巧手抓取规划与控制系统研究-控制理论与控制工程专业论文.docxVIP

万方数 万方数据 机器人三指灵巧手抓取规划与控制系统研究 11 AbstractAbstract Abstract Abstract With the rapid industrial development，people’S requirements for high—tech products have increased more and more，the traditional robot gripper has been difficult to adapt to the demand of the times．The humanoid dexterous hands，as general equipments，occupy in indispensable position of industrial production．In the deep sea,outer space or other harsh environments，the dexterous hands replace the people for a series of high risk tasks with its unique characteristics and potential．In the field of intelligent humanoid robot， highly flexible robot hand is high—profile．Also，there are various problems about dexterous hand，which is high demanded for fetching and operating．Apparentl5 it is necessary to improve grasping stability and control accuracy．This paper analyzes and researches the problems of grasping planning and finger force and position servo control， in the process of a three-fingered dexterous hand operating conventional obj ects． Firstly,the paper analyzes from the perspective of kinematic and dynamic models． Based on the analysis of single finger kinematics，multi·fingered kinematic constraints are constructed by converting the relationship between the agencies coordinate system of each component．After analyzing kinetic model with a single finger，the multi—finger dynamics of the system is established by the constraint relationship between the fingers and the task object． In the planning of grasping points，qualitative analysis is prerequisite to realize geady grasping．For routine tasks obj ect，all the grasping points are on the contour line，which is generated by the grasping flat intercepting the task object surface．To obtain the eligible contact points，certain rules have been adopted by the geometrical characteristics．And finally,the contact points for the layout of stability analysis and evaluation of quantitative indicators． To acquire the optimal planning finger force，a widely used method of finge