In-hand forward and inverse kinematics with rolling contact
Robotic hands use rolling contact to manipulate a grasped object to a desired location, even when the finger and the palm linkage mechanisms lack degrees of freedom. This paper presents a systematic approach to the forward and inverse kinematics of in-hand manipulation. The moving frame method in di...
| Main Authors: | , , |
|---|---|
| Format: | Journal Article |
| Published: |
Cambridge University Press
2017
|
| Online Access: | http://hdl.handle.net/20.500.11937/51304 |
| _version_ | 1848758664121286656 |
|---|---|
| author | Cui, Lei Sun, J. Dai, J. |
| author_facet | Cui, Lei Sun, J. Dai, J. |
| author_sort | Cui, Lei |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | Robotic hands use rolling contact to manipulate a grasped object to a desired location, even when the finger and the palm linkage mechanisms lack degrees of freedom. This paper presents a systematic approach to the forward and inverse kinematics of in-hand manipulation. The moving frame method in differential geometry is integrated into the product of exponential formula to establish a pure geometric framework of the kinematics of a robot hand. The forward and inverse kinematics of a multifingered hand are obtained in terms of the joint rates and contact trajectories. A two-fingered planar robot hand and a three-fingered spatial robot hand are used to demonstrate the proposed approach. The proposed formulation amounts to solving a univariate polynomial, providing an alternative to the existing ones that require numerical integration. |
| first_indexed | 2025-11-14T09:47:35Z |
| format | Journal Article |
| id | curtin-20.500.11937-51304 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T09:47:35Z |
| publishDate | 2017 |
| publisher | Cambridge University Press |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-513042017-09-13T15:43:54Z In-hand forward and inverse kinematics with rolling contact Cui, Lei Sun, J. Dai, J. Robotic hands use rolling contact to manipulate a grasped object to a desired location, even when the finger and the palm linkage mechanisms lack degrees of freedom. This paper presents a systematic approach to the forward and inverse kinematics of in-hand manipulation. The moving frame method in differential geometry is integrated into the product of exponential formula to establish a pure geometric framework of the kinematics of a robot hand. The forward and inverse kinematics of a multifingered hand are obtained in terms of the joint rates and contact trajectories. A two-fingered planar robot hand and a three-fingered spatial robot hand are used to demonstrate the proposed approach. The proposed formulation amounts to solving a univariate polynomial, providing an alternative to the existing ones that require numerical integration. 2017 Journal Article http://hdl.handle.net/20.500.11937/51304 10.1017/S026357471700008X Cambridge University Press restricted |
| spellingShingle | Cui, Lei Sun, J. Dai, J. In-hand forward and inverse kinematics with rolling contact |
| title | In-hand forward and inverse kinematics with rolling contact |
| title_full | In-hand forward and inverse kinematics with rolling contact |
| title_fullStr | In-hand forward and inverse kinematics with rolling contact |
| title_full_unstemmed | In-hand forward and inverse kinematics with rolling contact |
| title_short | In-hand forward and inverse kinematics with rolling contact |
| title_sort | in-hand forward and inverse kinematics with rolling contact |
| url | http://hdl.handle.net/20.500.11937/51304 |