The invention discloses a three-dimensional space rolling target envelope capturing method based on a multi-finger mechanism. The method comprises the following steps of S100, establishing a structuredescription model of the multi-finger mechanism according to a relative position relation between base joints of fingers 4 of the multi-finger mechanism and the configuration description of each finger 4; S200, deducing an effective envelope condition of the multi-finger mechanism according to a condition which should be met between the multi-finger mechanism and a three-dimensional space rollingtarget when the multi-finger mechanism can restrain the movement of the three-dimensional space rolling target; and S300, according to a multi-finger mechanism envelope algorithm, finding out an effective multi-finger mechanism configuration meeting the envelope condition. According to the method, when the method is used for capturing the space rolling target, the method has the advantages that acapture point is not needed, accurate target information is not needed, better compatibility is achieved for the geometric shape of the target, and target motion constraint can be achieved only through simple position control.
本发明公开了一种基于多指机构的三维空间翻滚目标包络抓捕方法,包括:S100,根据多指机构的各个手指4的基关节之间的相对位置关系以及各个手指4自身的构型描述,建立多指机构的结构描述模型,S200,根据多指机构能够约束住三维空间翻滚目标运动时,多指机构和三维空间翻滚目标之间应当满足的条件,推导多指机构的有效包络条件;S300,根据多指机构包络算法,寻找出满足包络条件的有效多指机构构型。本方法在对空间翻滚目标进行抓捕时,具有不需要抓捕点、不需要精确的目标信息、对目标几何外形具有更好的兼容性以及仅通过简单的位置控制就能够实现对目标运动约束的优点。
Three-dimensional space rolling target envelope capturing method based on multi-finger mechanism
一种基于多指机构的三维空间翻滚目标包络抓捕方法
2020-07-03
Patent
Electronic Resource
Chinese
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European Patent Office | 2021
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