Manipulation strategy for an anthropomorphic robotic hand

Author

Caurin, G.A.P. ; Albuquerque, A.R.L. ; Mirandola, A.L.A.

Author_Institution

Dept. of Mech. Eng., Sao Paulo Univ., Sao Carlos, Brazil

Volume

2

fYear

2004

fDate

28 Sept.-2 Oct. 2004

Firstpage

1656

Abstract

This work presents a manipulation strategy for a anthropomorphic robotic hand based on the use of distinct model topologies and the analytical solution for the inverse kinematics. To evaluate the approach a pencil handling example is implemented using the Brazilian Anthropomorphic Hand - BRAHMA, a five fingers artificial robotic hand with 22 degree of freedom. Additionally a state space position control for the joints was implemented. The non-linear model is piece-wise linearized and linear models are used to design the control. The manipulation strategy is tested imposing a movement to the pencil that the BRAHMA controller and the results are presented through numeric simulation.

Keywords

control system synthesis; dexterous manipulators; position control; robot kinematics; BRAHMA controller; Brazilian Anthropomorphic Hand; anthropomorphic robotic hand; control design; distinct model topology; five fingers artificial robotic hand; inverse kinematics; manipulation strategy; nonlinear model; pencil handling example; piece-wise linearized model; state space position control; Anthropomorphism; Fingers; Kinematics; Numerical simulation; Orbital robotics; Position control; Robots; State-space methods; Testing; Topology;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8463-6

Type

conf

DOI

10.1109/IROS.2004.1389633

Filename

1389633