Paper Info
Title
A new finger inverse kinematics method for an anthropomorphic hand
Abstract
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.
Year
DOI
Venue
2011
10.1109/ROBIO.2011.6181470
Robotics and Biomimetics
Keywords
DocType
ISBN
Jacobian matrices,damping,least squares approximations,manipulator kinematics,position control,vibration control,JT matrix,JT method,Jacobian transpose method,MSDLS,anthropomorphic robotic hand,damping factor,end-point position,finger inverse kinematics,index finger,inverse Jacobian,manipulator performance,modified selectively damped least squares,optimal Cartesian increment,shattering,singular vector
Conference
978-1-4577-2136-6
Citations 
PageRank 
References 
2
0.41
5
Authors
3
Name
Order
Citations
PageRank
Choukri Bensalah131.82
Mohamed Abderrahim213512.27
Juan González-Gómez351.55