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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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