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san zhi ji qi ren shou de yun dong xue yan jiu
Author(s): 
Pages: 27-31
Year: Issue:  5
Journal: Robot

Keyword:  机器人多指手运动学;
Abstract: 本文研究了指端与物体间为纯滚动接触时三指9关节机器人手操作物体的运动学问题,建立了手指关节运动与物体运动之间的位置关系、速度关系和加速度关系,给出了9个节间的运动约束条件。
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