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學號：Q3318Q3Q!曼密級玉河晦大專碩士學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