RT Conference Proceedings
T1 A new finger inverse kinematics method for an anthropomorphic hand
A1 Bensalah, Choukri
A1 Abderrahim Fichouche, Mohamed
A1 González Gómez, Juan
AB In this paper, a new method for solving theinverse kinematics of the fingers of an anthropomorphic handis proposed. Our approach combines a Modified SelectivelyDamped Least Squares (MSDLS) and Jacobian Transpose (JT)methods. The main advantages of this method with respect tothe ordinary SDLS are: optimal Cartesian increment, shortercomputation time and better response near singularity configurations.The original JT method exhibits a strong shatteringwith small magnitudes which occurs near the goal position or inthe case of unreachable positions. Like in the SDLS, a dampingfactor was applied to each input singular vector to filter theundesirable behavior. A comparative study between the MSDLSapplied to the inverse Jacobian and JT matrix is developedto investigate manipulator performance in critical end-pointpositions of the index finger of a commercial anthropomorphicrobotic hand and also to evaluate the impact of the incrementlength on computation time.
PB IEEE
YR 2011
FD 2011
LK https://hdl.handle.net/10016/14116
UL https://hdl.handle.net/10016/14116
LA spa
NO Proceedings of: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), December 7-11, 2011, Phuket (Thailand)
NO European Community's Seventh Framework Program
DS e-Archivo
RD 27 jul. 2024