CAJ | 학술논문

要对灵巧手的各个关节进行实时控制，就必须要对各关节的位移、速度、加速度、力等情况进行研究．以自行设计的仿人多指灵巧手结构为基础，建立DH模型，对灵巧手的位姿和坐标变换进行分析，设置手指各关节的坐标系，确定各关节的齐次坐标变换矩阵，建立运动学方程．运用运动学的正解和逆解，分析、求解出相应的参数．为下一步研究动力学以及研究灵巧手的抓取规划和运动控制提供依据，从而灵巧手达到良好的动态性能和最优指标．
요대령교수적각개관절진행실시공제，취필수요대각관절적위이、속도、가속도、력등정황진행연구．이자행설계적방인다지령교수결구위기출，건립DH모형，대령교수적위자화좌표변환진행분석，설치수지각관절적좌표계，학정각관절적제차좌표변환구진，건립운동학방정．운용운동학적정해화역해，분석、구해출상응적삼수．위하일보연구동역학이급연구령교수적조취규화화운동공제제공의거，종이령교수체도량호적동태성능화최우지표．
Real-time control of the dexterous hand's each joint, needs considering displacement, velocity, acceleration,force etc. Based on the structure of anthropomorphic dexterous hand designed by the au- thor,DH model was established and pose and coordinate transformation were analyzed,and then the coordinate system of the finger joints was designed the homogeneous coordinate transformation matrices of joints are determined to build kinematics equations. Forward and inverse kinematics are employed to analyse and solve the corresponding parameters,which provide a basis for the next research of dynamics and dexterous hands grabbing plan and motion control, so as to attain good dynamic performance and optimal parameters.