[机器人多指操作的理论和实践研究]秦志强

【机器人多指操作的理论和实践研究】秦志强.pdf

ADissertationSubmittedto AcademicDegreesEvaluation Committee of Huazhong University of Science and Technology fortheDegreeofDoctorofPhilosophyinEngineering Research on the Theory andPractice ofRoboticMultifingered Manipulation Mechanical Engineering Prof.Xiong Youlun Dr.华中理工大学博士学位论文 ABSTRACT Multifingeredhandgraspingandmanipulationhasbeena topic of interestinindustial applicationdue toitshighflexibilityandbroadadaptabilityinassemblyautomationand intelligent manipulation.This dissertation makes a systematicinvestigation on planning,Givenamanipulation task andamulti(1-12)(1-1)(1-3)(4-8)(9-12)(13-22)(13-13)(13-16)(16-17)(17-18)(18-20)(20-21)(21-22)(22-22)(23-33)？(23-23)i(24-24)(24-28)(28-29)(29-33)(33-33)(34-41)(34-35)(35-37)(37-39)(40-41) *(41-41) 录 华中理工大学博士学位论文 目 中文摘要 英文摘要 第一章绪论 1课题来源立题背景 1.