灵巧手滚动操作的运动规划

主要研究灵巧手和物体滚动接触时运动规划，首先，介绍了空间物体曲面的表示，在此基础上建立了两刚体点接触时的运动学方程，并由点接触的运动学方程和滚动接触的约束条件得到了两刚体的滚动接触运动方程，然后，由于掌坐标，手指末端坐标，接触坐标和物体坐标之间的位置关系，推导了关节速度和物体速度之间的关系，建立了灵巧手滚动操作的运动方程，并分析了滚动操作中的物理约束，位置约束，速度的约束和方向约束及其表示，最后，

Motion Planning of Rolling Manipulation Using Dexterous Hand

The motion planning of rolling manipulation using dexterous hand is studied. At first, the surface representation of spatial object is introduced. The contact equation and rolling contact equation of two spatial objects are built based on the surface representation of the spatial object and the constraints of rolling contact. Then, from the relation among co-ordinates of palm, finger, contact point and object, the position and differential relation between the joint angle and the object are derived. At the mean time, the constraints of rolling grasping using dexterous hand have been analysis and its representation is studied. The kinematics formulation of rolling manipulation is built. Finally, simulation for planar manipulation is given.