Efficient and practical determination of grasping con gurations for anthropomorphic hands
Visualitza/Obre
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/14503
Tipus de documentText en actes de congrés
Data publicació2011
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
:
Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
The paper presents a methodology to rapidly solve the inverse kinematics of
anthropomorphic hands, which is particularized for a mechanical hand considering 27 degrees
of freedom. Given the contact points and normal directions on an object surface, the proposed
algorithm nds the joint values and the wrist position and orientation that make the ngertips
satisfy the contact constraints. The approach combines an iterative algorithm with an o -
line analysis that allows signi cant reductions of the execution time. The approach has been
implemented and the paper includes application examples. The e ectiveness and fast execution
of the algorithm is demonstrated with statistical results.
CitacióClaret, J.; Suárez, R. Efficient and practical determination of grasping con gurations for anthropomorphic hands. A: World Congress of the International Federation of Automatic Control. "18th IFAC World Congress". Milà: 2011, p. 14660-14666.
Versió de l'editorhttp://www.ifac2011.org/
Fitxers | Descripció | Mida | Format | Visualitza |
---|---|---|---|---|
ifac11.pdf | 489,5Kb | Visualitza/Obre |