Analysis and Research on Hand Maintenance Action Based on Binocular Stereo Vision

According to the physiological structure of the hand index finger and the motion characteristics of each joint, the movement of the hand index finger during the maintenance operation was observed and analyzed. By measuring the movement trajectory of the index finger based on the binocular stereo vision camera, the motion angles of each joint were calculated by the index finger kinematics model, and then the rotation angles of each joint were fitted and simulated with the robot toolbox, comparing and analyzed the simulation trace and the experimental trace. The results show that the rotation angle function of each joint can simulate the movement of a single index finger of the manipulator, which plays an important role in the motion simulation and control of the intelligent maintenance manipulator.