Singular-Value Decomposition Based Kinematic Analysis of the Metamorphic Multifingered Hand

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Singular-Value Decomposition Based Kinematic Analysis of the Metamorphic Multifingered Hand

This paper investigates kinematics of the metamorphic multifingered robotic hand based on screw system analysis and singular value decomposition. The paper integrates the singular value decomposition with screw system and generates the reciprocity-based Jacobian matrices of a multifingered hand. Thi...

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Bibliographic Details
Main Authors:	Cui, Lei, Dai, J.
Other Authors:	Pierre Larochelle
Format:	Conference Paper
Published:	ASME Press 2010
Subjects:	hand kinematics multifingered Singular-value decomposition robotics metamorphic
Online Access:	http://hdl.handle.net/20.500.11937/19603

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