人手操作的联体计算

机器人的一个重要理论问题是如何控制机械手以获得所需要的运动。本文将人手操作的基本运动,抽象为具有七个构件而有九个自由度的刚体系统,严格地分析了这些运动,并根据实际情况考虑到各构件的重力、控制力和摩擦阻力,因此能完成人手操作的多种功能。而为了便于在计算机上实施运算利用Kane方程建立了以广义坐标表达的运动微分方程,这可作为分析机械手运动的理论依据。

Conneeting Body Calculation Operated By The Hand of The Robot

An important theoretical problem of the robot is how to gain necessarymovement by controling mechanical hand. This paper describes the basicmovement of the manual operation as the system of a rigid body whicb ismade up of seven parts withe nive degrees of freedom. Thise movements areanlysed strictly and exactly with the gravity, control and friction of theseven parts into consideration. Various functions can be cleverly performedby the robot. In order to facilitate calculation on the computer, movementdifferential equations are created in terms of kane equation. These differantialequations are expressed by generaliced coordinates, which can be regarded astheoretical proof of analysing the movement mechenical hand.