Title :
Inverse kinematics for a multifingered hand
Author :
Koehler, Tom ; Donath, Max
Author_Institution :
Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
Abstract :
One aspects of the control of multifingered hands is discussed, nearly inverse kinematics. For a serial-link manipulator with a multifingered hand attached to its distal link, the inverse kinematics of the hand and of the manipulator can be treated separately. The inverse kinematic solution for a three-fingered, nine-degree-of-freedom hand is described. The solution presented for the general configuration of the hand is unique and unambiguous; however, this is not the case for certain joint configurations, which are identified
Keywords :
control system analysis; kinematics; robots; inverse kinematics; joint configurations; multifingered hands; robots; serial-link manipulator; Automation; Costs; End effectors; Fingers; Fixtures; Joining processes; Manipulators; Mechanical engineering; Productivity; Robot kinematics;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12053
