摘要
本文在一种二指节手指模型的基础上,提出了一种新的主动触觉搜索策略和方法,综合利用阵列式触觉传感铭的输出图象来不断改变机械手的姿态,从而依次有序地搜索到三维物体的特征点,并据此生成物体的三维图形。此外还讨论了上述方法的计算机仿真实现。
This paper gives a new kind of active tactile searching tactics and method on the basis of a typeof two-link finger and synthetically uses output images of the arrayed tactile sensor to change the posture ofthe manipulator so as to obtain the characteristic points of three dimension object in turns. And in this way,we can get three dimension image of the object. Besides these, the paper discusses the computer simulation ofabove methods.
出处
《机器人》
EI
CSCD
北大核心
1994年第2期82-86,共5页
Robot
基金
国家高技术863课题资助
关键词
机器人
触觉传感器
仿真
Robot,active tactile, arrayed tactile sensor,computer simulation