上海大学学报(自然科学版) ›› 2018, Vol. 24 ›› Issue (1): 33-43.doi: 10.12066/j.issn.1007-2861.1833

• 研究论文 • 上一篇    下一篇

基于运动映射的仿人机械手控制

蒋财军, 徐昱琳(), 丁美昆   

  1. 上海大学 机电工程与自动化学院, 上海 200444
  • 收稿日期:2016-06-13 出版日期:2018-02-28 发布日期:2018-03-02
  • 通讯作者: 徐昱琳 E-mail:xuyulin@shu.edu.cn
  • 基金资助:
    上海市经信委产学研基金资助项目(SH3003122013)

Dexterous robotic hand control based on motion mapping

JIANG Caijun, XU Yulin(), DING Meikun   

  1. School of Mechatronic Engineering and Automation,Shanghai University, Shanghai 200444, China
  • Received:2016-06-13 Online:2018-02-28 Published:2018-03-02
  • Contact: XU Yulin E-mail:xuyulin@shu.edu.cn

摘要:

构建了基于数据手套运动映射的仿人机械手控制系统,目的是通过数据手套将人手行为映射到仿人机械手,使仿人机械手能完成自然直观的手势及抓取动作,提高仿人机械手的操作性能.通过实验验证了直接关节角度映射与指尖位置映射能够控制仿人机械手实现相应的位姿,证明了基于运动映射的仿人机械手控制系统的正确性和实用性.

关键词: 仿人机械手, 运动映射, 数据手套

Abstract:

A control system for dexterous robotic hands based on motion mapping of data glove is presented in this paper. Humanoid gestures and grasping motion can intuitively be realized on robotic hands through human hand motion mapping by data glove. Operation performance of the robotic hand is improved. Direct joint angle mapping and fingertip position mapping are adapted to control the robotic hand motion. Experimental results show practicality of the control system.

Key words: dexterous robotic hand, motion mapping, data glove

中图分类号: