%0 Journal Article
%T THE KINEMATICS AND ITS ALGORITHM FOR MULTI-FINGERED HAND MANIPULATION WITH ROLLING CONTACTS<br>具有滚动接触的多指手操作运动学及其算法
%A LI Jian-Feng
%A ZHANG Yu-Ru
%A ZHANG Qi-Xian
%A <br>李剑锋
%A 张玉茹
%A 张启先
%J 自动化学报
%D 2002
%I 
%X The kinematics and its algorithm for multi fingered hand manipulation with rolling contacts are investigated. At first, the rolling contact kinematic equation is briefly introduced. Then, according to the kinematic characteristics of the contact constraints, a joint object kinematic equation which describes the velocity relation between the finger joints and object is established, and the expression of the relative angle velocity between the finger surfaces and the object surface is derived. By combining the obtained equations with the contact kinematic equation, a simple and explicit kinematic equation of multi fingered hand rolling manipulation can be set up. Based on that equation, an algorithm is presented to generate joint trajectories for a multi fingered hand manipulating an object to track a given trajectory.
%K Multi
%K fingered hand
%K kinematics
%K rolling contact
%K manipulation<br>多指手
%K 运动学
%K 滚动接触
%K 操作
%K 算法
%K 机器人
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=7D1A3980EB865013&yid=C3ACC247184A22C1&vid=D3E34374A0D77D7F&iid=0B39A22176CE99FB&sid=9CA95D22FC1D537C&eid=B78CD622C1934236&journal_id=0254-4156&journal_name=自动化学报&referenced_num=1&reference_num=8