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灵巧操作是多指手操作的一个重要方面,探讨实现这种操作的纯滚动方法.首先利用纯滚动的非完整特性,进行非完整运动的最优路径规划,然后根据规划结果应用多指手操作运动学方程确定手指的运动.为多指手灵巧操作的实现提供了一条途径.
Dexterous operation is an important aspect of multi-fingered operation, and discusses the pure rolling method to achieve this operation.Firstly, using the non-complete characteristics of pure rolling, the optimal path planning of non-integral motion is carried out, and then the multi-fingered operation is applied according to the planning result Kinematic equations determine the movement of the finger, providing a way for the implementation of multi-finger dexterity.