平面一般輪廓對象多指抓取方案的自動規(guī)劃.pdf

1、Y842936分類號UCDTHl26218學(xué)號：Q3318Q3Q!曼密級玉河晦大專碩士學(xué)位論文平面一般輪廓對象多指抓取方案的自動規(guī)劃戚海永指導(dǎo)教師姓名昱玉毖熬援圓盤盔堂扭電王猩堂院趔瀣太堂扭蟲坐醫(yī)堂趟吏堂澄隧墨申請學(xué)位級別王坐亟專業(yè)名稱狃撼生王工程論文提交日期：2Q嫂笙2旦論文答辯日期：2Q鰻生≥旦24墾學(xué)位授予單位和日期：扭漁太堂2QQ生!目答辯委員會主席：裝竣蝗論文評閱人：墓蝗堅、藍(lán)正墮2006年3月中國南京ABSTRACTInth

2、ispaperanautomatedplanningapproachformulti—fingeredgraspispresented，whichissuitedtodexteroushandwithfourfingersandtheobjecthasordinaryplanarcontourThemainworkinthisstudyistoestablishmathematicalmodelofmulti—fingeredgrasp

3、andtealizethatthegraspautomatedplanningistodeterminethecontactpointpositionofthefingersinthegeometrycontourofgraspedobjectFirst，establishmathematicalmodelItisthebasicproblemthattocalculatethecontactpointpositionandtodete

4、rminethepositionfimctionsamongfourcontactpointofdexteroushandItisalsoanalgorithmthattorealizethatthegraspautomatedplanningTheftmctionofcontactpointpositionoffingerandtheretlatedfunctionamongfourfingerspositionareestablis

5、hedItisbasicmathematicalequationstoevaluatethegrapplanforfourfingersdexteroushandsThentherelationshipbetweentheconfigurationofinstancerotationcentertriangleandthetypeofgraspededgemustheanalyzed，andthekeepingmethodsofcons

6、istencyfortheconfigurationchangeofinstancerotationcentertriangleareestablishedTheapproachtograspingplanningforordinarycontourobjectCanbeestablishedLastlytheprogramiswritedbaseonestablishedmathematicalmodelofthispaperApro

7、totypesystemisdevelopedwithVisualC60andsomesamplesprovetheplanningapproachandestablishedmathematicalmodelinvolvedinthisPaDeLKeywords：multifingeredgrasp，ordinaryplanarcontourformclosure，instancerotationcentertriangle，gras