Bensalah, ChoukriAbderrahim Fichouche, MohamedGonzález Gómez, Juan2012-04-232012-04-2320112011 IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 2011. Pp. 1314 - 1319https://hdl.handle.net/10016/14116Proceedings of: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), December 7-11, 2011, Phuket (Thailand)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.application/pdfspa© IEEEconference proceedingsRobótica e Informática Industrial10.1109/ROBIO.2011.6181470open access131413192011 IEEE International Conference on Robotics and Biomimetics (ROBIO)