灵巧手主从抓持中的运动映射

抓持规划是灵巧手研究中的关键问题之一,主从抓持是目前较为可行的解决方案.其核心问题是将人手的抓持合理地映射为灵巧手的抓持.以仿人灵巧手为研究对象,提出了从人手到灵巧手的主从运动映射方法,在直角空间内建立了主从运动映射模型.根据人手和灵巧手运动学结构的相似性,提出了主从映射矩阵的简化形式,即通过主从手指尖位置增量的线性比例映射,由人手各指尖的运动独立控制灵巧手对应指尖的运动.通过实验对主从映射结果进行了分析,初步探讨了主从映射应满足的基本要求.实验结果表明,映射所确定的灵巧手的指尖位置基本在其工作空间,从而保证主从运动可行;主从手的运动轨迹较为相似,从而保证了主从控制的简单直观.

Motion mapping in master-slave grasp for dexterous hands

Grasp planning is one of the key issues of the dexterous hand research. At present master-slave grasp is a feasible solution. The core problem is to map the human grasp into that of the dexterous hands reasonably. Aiming at the anthropomorphic dexterous hands, the method of mapping human hand motion to the robot hand was investigated. The mapping model of master-slave motion was established in the Cartesian space, and the mapping matrix was formulated and simplified considering the similarity of the kinematics of the human and dexterous hands. Through the linear scalar mapping the human hand fingers can control the corresponding fingertip motions of the robot hand independently. The mapping results were analyzed by the experiments, and the fundamental requirements for mapping were discussed. The experimental results illustrate that the mapped fingertip positions of the dexterous hands are basically within their workspaces thus ensure the master-slave motion feasible, and the motion locus are similar thus ensure the master-slave control simple and intuitive.