THE KINEMATICS AND ITS ALGORITHM FOR MULTI-FINGERED HAND MANIPULATION WITH ROLLING CONTACTS
具有滚动接触的多指手操作运动学及其算法

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.