| 面向任务的三指机器人手最优抓取规划(英文) |
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| 引用本文： | 钱瑞明,颜景平.面向任务的三指机器人手最优抓取规划(英文)[J].东南大学学报,1998(1). |
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| 作者姓名： | 钱瑞明 颜景平 |
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| 作者单位： | 东南大学机械工程系 |
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| 摘 要： | 提出了三指机器人手抓取规划的一种研究方法．通过对人手抓取操作动作的分析，归纳出三指抓取的两种典型方式．综合任务要求、物体的几何和物理特性以及环境信息，获得了三指手的抓取姿态和可抓取平面．最后将抓取规划过程归结为可行抓取平面上三个抓取位置的确定．
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| 关 键 词： | 多指机器人手，抓取，规划，抓取任务 |
Task Oriented Optimal Grasp Planning by Three Fingered Robot Hands |
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| Qian Ruiming,Yan Jingping.Task Oriented Optimal Grasp Planning by Three Fingered Robot Hands[J].Journal of Southeast University(English Edition),1998(1). |
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| Authors: | Qian Ruiming Yan Jingping |
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| Institution: | Qian Ruiming * Yan Jingping |
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| Abstract: | This paper presents a way for research on grasp planning of three fingered robot hands. According to the assortment of human hand grasping, two typical grasping poses for three finger grasps are summarized. The task requirements, the geometrical and physical features of the object and the information from the environment are synthesized. Grasp pose is deduced by task analysis, and the graspable plane is sought and determined. The process of grasp planning is finally carried out by determining three grasp points on the feasible grasp plane. |
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| Keywords: | multifingered robot hand grasp plan grasp task |
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