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臂- 手系统主动抓取策略及仿真
消耗积分:2 |
格式:rar |
大小:264 |
2009-07-11
贾桂林
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本文将多指手和关节型机械手臂结合起来,应用多种传感器,组成了仿人臂- 手系统。对多种抓取模式进行了分析,提出了主动抓取目标物体的策略,即将孩童抓取和知识抓取结合起来,由推理机获得抓取模式及算法。最后,对抓取过程进行了图形仿真。
[关键词] 多指手,主动抓取,仿真
[Abstract] This paper presents a kind of arm- hand systemwhich is composed of a 12DOF multi - fingered hand , a CRS robot and some sensors. analyzes some graspingmodes and brings forward a strategyof active grasp. In the last , the graspingprocess is simulated.
[ Key words] Multi - fingered hand , active grasping, simulating , arm- hand system
[关键词] 多指手,主动抓取,仿真
[Abstract] This paper presents a kind of arm- hand systemwhich is composed of a 12DOF multi - fingered hand , a CRS robot and some sensors. analyzes some graspingmodes and brings forward a strategyof active grasp. In the last , the graspingprocess is simulated.
[ Key words] Multi - fingered hand , active grasping, simulating , arm- hand system
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