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multifingered hands

Robotica (1)

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In-hand forward and inverse kinematics with rolling contact
Lei Cui, Jie Sun, Jian S. Dai
Journal:

Robotica / Volume 35 / Issue 12 / December 2017

Published online by Cambridge University Press:

27 February 2017, pp. 2381-2399
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Robotic hands use rolling contact to manipulate a grasped object to a desired location, even when the finger and the palm linkage mechanisms lack degrees of freedom. This paper presents a systematic approach to the forward and inverse kinematics of in-hand manipulation. The moving frame method in differential geometry is integrated into the product of exponential formula to establish a pure geometric framework of the kinematics of a robot hand. The forward and inverse kinematics of a multifingered hand are obtained in terms of the joint rates and contact trajectories. A two-fingered planar robot hand and a three-fingered spatial robot hand are used to demonstrate the proposed approach. The proposed formulation amounts to solving a univariate polynomial, providing an alternative to the existing ones that require numerical integration.

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In-hand forward and inverse kinematics with rolling contact

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In-hand forward and inverse kinematics with rolling contact