Kinematic synthesis of multi-fingered robotic hands for finite and infinitesimal tasks

E. Simo-Serra, A. Perez-Gracia, H. Moon, N. Robson

研究成果: Chapter

6 被引用数 (Scopus)

抄録

In this paper we present a novel method of designing multi-fingered robotic hands using tasks composed of both finite and infinitesimal motion. The method is based on representing the robotic hands as a kinematic chain with a tree topology.We represent finite motion using Clifford algebra and infinitesimal motion using Lie algebra to perform finite dimensional kinematic synthesis of the multifingered mechanism. This allows tasks to be defined not only by displacements, but also by the velocity and acceleration at different positions for the design of robotic hands. The additional information enables an increased local approximation of the task at critical positions, as well as contact and curvature specifications. An example task is provided using an experimental motion capture system and we present the design of a robotic hand for the task using a hybrid Genetic Algorithm/Levenberg- Marquadt solver.

本文言語English
ホスト出版物のタイトルLatest Advances in Robot Kinematics
出版社Springer Netherlands
ページ173-180
ページ数8
ISBN(電子版)9789400746206
ISBN(印刷版)9789400746190
DOI
出版ステータスPublished - 2012 1 1
外部発表はい

ASJC Scopus subject areas

  • 工学(全般)
  • コンピュータ サイエンス(全般)

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