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提出了一种新型气动弯曲关节手指 ,并应用坐标变换的方法建立了手指的运动学方程。介绍了基于Hopfield网络求解运动学逆解的算法。仿真结果表明 ,手指具有良好的轨迹跟踪性能
A new type of pneumatic bending joint finger is proposed, and the kinematics equation of the finger is established by coordinate transformation method. An algorithm for solving inverse kinematics based on Hopfield network is introduced. Simulation results show that the finger has a good trajectory tracking performance