DocumentCode
3241870
Title
Motion planning of multifingered robotic hand for turning the cap
Author
Choi, Dongmin ; Shin, Seunghoon ; Lee, Kunwook ; Koo, Ja Choon ; Choi, Hyouk Ryeol ; Moon, Hyungpil
Author_Institution
Dept. of Mech. Eng., Sungkyunkwan Univ., Suwon, South Korea
fYear
2011
fDate
23-26 Nov. 2011
Firstpage
451
Lastpage
454
Abstract
This paper presents a motion planning with position based impedance controller for our newly designed robotic hand. We explained the position based impedance control scheme presents equations. Also the inverse kinematics method is presented using pseudo-inverse. Finally, we proposed a motion planning to open a bottle cap and simulation result is shown to verify the effectiveness and robustness.
Keywords
manipulator kinematics; path planning; position control; bottle cap; inverse kinematics method; motion planning; multifingered robotic hand; position based impedance control scheme; pseudo-inverse; Impedance; Joints; Kinematics; Planning; Service robots; Thumb; Impedance Control; Motion Planning; Robot Hand;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location
Incheon
Print_ISBN
978-1-4577-0722-3
Type
conf
DOI
10.1109/URAI.2011.6145862
Filename
6145862
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