Abstract: The paper introduces Denavit-Hartenberg matrix in robotics to synthesize the finger language, and also detrudes a kinematic and rever-se kinematic function to simplify the finger movement process. Experiment results show that it is reliable and effective. The method is alsoapplicable to address the more complex a kinematic and reverse kinematic function of finger movement, which can effectively synthesize the fingerlanguage.

摘要： 人的手指极为灵活,随着各个指节的运动参数的变化,其运动形式也千变万化。该文引用了机器人学中的机构学里的Denavit-Hartenberg矩阵方法来合成手指语。结果自然、可信。并推导出一个简化手指的运动学和逆运动学方程。用同样的方法还可以解决更为复杂的通用手指运动学和逆运动学方程。根据所得方程可以较好地实现手指语的合成。

关键词: 手指语, 逆运动学, 运动学, 机构学

CLC Number: 

• TP242