Publication: A new finger inverse kinematics method for an anthropomorphic hand
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2011
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IEEE
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Abstract
In this paper, a new method for solving the
inverse kinematics of the fingers of an anthropomorphic hand
is proposed. Our approach combines a Modified Selectively
Damped Least Squares (MSDLS) and Jacobian Transpose (JT)
methods. The main advantages of this method with respect to
the ordinary SDLS are: optimal Cartesian increment, shorter
computation time and better response near singularity configurations.
The original JT method exhibits a strong shattering
with small magnitudes which occurs near the goal position or in
the case of unreachable positions. Like in the SDLS, a damping
factor was applied to each input singular vector to filter the
undesirable behavior. A comparative study between the MSDLS
applied to the inverse Jacobian and JT matrix is developed
to investigate manipulator performance in critical end-point
positions of the index finger of a commercial anthropomorphic
robotic hand and also to evaluate the impact of the increment
length on computation time.
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Proceedings of: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), December 7-11, 2011, Phuket (Thailand)
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2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 2011. Pp. 1314 - 1319