摘要
介绍了7自由度假肢结构,并针对传统的将7自由度手臂退化为6自由度手臂的逆运动学求解方式进行改进,提出了利用摇摆角(swivel angle)的优化方式,使手臂在抓取时更加拟人自然。
The structure of the prosthetic arm is presented and for traditional method which gains kinematics inverse solution by degenerating 7-DOF to 6-DOF,a new additional constraint which named swivel angle is proposed. By optimizing swivel angle the arm will perform more natural when it grasps.
出处
《装备制造技术》
2013年第3期7-9,15,共4页
Equipment Manufacturing Technology
基金
国家重点基础研究发展计划(973)项目(2011CB013300-G)
人体运动功能重建的生机电一体化科学基础
