Robot Hands Motion Controlling Simulation With Quaternion-Weighted Joints

摘要：

This paper presets a Quaternion-Weighted Joint Algorithm for virtual human hand movement simulation, based on the Anatomy and VRMLs H-Anim standard, we first set up a hand model with 16 joints, 23 dofs and 20 segments; We then attach weighting value to each joints, drove the hand model with Quaternion method to do maintenance movements simulation; Lastly, in a classical work environment, a case study is demonstrated to implement a parallel task, the result proves that the method is usable and effective.

关键词： Quaternion-weighted joint Algorithm hand movement simulation maintenance simulation parallel tasks

作者: Li Jie LI Qin-hui YOU Xiang-yang

作者单位: School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, 210094, Chi Xuzhou Air Force College, Xuzhou 221002, P. R. China

会议类型: 国际会议

会议名称: 第七届国际测试技术研讨会

会议地点: 北京

会议语种:英文

在线出版日期: 2007-08-05（万方平台首次上网日期，不代表论文的发表时间）