Solving the inverse kinematics of an anthropomorphic hand for grasping applications
Tutor / director / avaluadorSuárez Feijóo, Raúl
Tipus de documentProjecte Final de Màster Oficial
Condicions d'accésAccés restringit per decisió de l'autor
The use of anthropomorphic manipulators is a problem faced nowadays in the general industry. When compared to conventional grippers they present two potential advantages: higher grip stability and the possibility to grasp arbitrary shapes. Being in constant development, the robotic grasping with these manipulators still has a large field to be discovered. This work covers all the parts related to the development and implementation of an algorithm able to obtain a valid configuration to an anthropomorphic hand, having 31 degrees of freedom, for grasping applications. The program proposed uses the interactive jacobian method to obtain the solution respecting the constraints. The result obtained shows the importance of defining an initial position to start solving the inverse kinematics. A method proposed in this work to define this position has improved the number of valid solutions from 7 to 58% of the cases, in an average time of 28 seconds. Nevertheless, as future work, the method used can be improved and the fusion of this software with the Kautham platform will lead to a robust system for solving grasping tasks.
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