摘要
在将人手的抓取动作转化成灵巧手的抓取动作指令时,为快速验证手势识别和姿态转换模块的功能,同时避免由于指令的错误可能引起灵巧手的手指相互碰撞或对手指的驱动机构产生损害,特开发了灵巧手的三维仿真系统.采用3D图形软件包OpenInventor作为图形开发工具,实现了灵巧手的姿态模拟和碰撞检测功能.
A visualized simulation system of dexterous mechanical gripper is developed to verify the function of a module for gesture recognition and conversion, and avoid collision between different fingers that may cause damage to the driving components. The system converts parameters of an operator's finger tips and joints into corresponding parameters of dexterous mechanical gripper. Using the 3D graphics software OpenInventor, the sysyem simulates the gesture of dexterous mechanical gripper and collision detection.
出处
《上海大学学报（自然科学版）》
CAS
CSCD
2003年第1期38-42,共5页
Journal of Shanghai University:Natural Science Edition
