Reciprocity-based singular value decomposition for inverse kinematic analysis of the metamorphic multifingered hand
With a new type of multifingered hand that raises a new philosophy in the construction and study of a multifingered hand, this paper is a follow-on study of the kinematics of the metamorphic multifingered hand based on finger constraint equations. The finger constraint equations lead to a comprehens...
| Main Authors: | , |
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| Format: | Journal Article |
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ASME Press
2012
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| Online Access: | http://hdl.handle.net/20.500.11937/8621 |
| _version_ | 1848745711369191424 |
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| author | Cui, Lei Dai, J. |
| author_facet | Cui, Lei Dai, J. |
| author_sort | Cui, Lei |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | With a new type of multifingered hand that raises a new philosophy in the construction and study of a multifingered hand, this paper is a follow-on study of the kinematics of the metamorphic multifingered hand based on finger constraint equations. The finger constraint equations lead to a comprehensive mathematical model of the hand with a reconfigurable palm which integrates all finger motions with the additional palm motion. Singular values of the partitioned Jacobian matrix in their analytical form are derived and applied to obtaining analytical solution to inverse kinematics of a complete robotic hand. The paper for the first time solves this integrated motion and the multifingered hand model with the singular value decomposition and extra degrees of freedom are examined with the singular value analysis to avoid the singularities. The work identifies finger displacement and velocity with effect from the articulated palm and presents a new way of analyzing a multifingered robotic hand. |
| first_indexed | 2025-11-14T06:21:42Z |
| format | Journal Article |
| id | curtin-20.500.11937-8621 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T06:21:42Z |
| publishDate | 2012 |
| publisher | ASME Press |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-86212017-09-13T16:04:15Z Reciprocity-based singular value decomposition for inverse kinematic analysis of the metamorphic multifingered hand Cui, Lei Dai, J. With a new type of multifingered hand that raises a new philosophy in the construction and study of a multifingered hand, this paper is a follow-on study of the kinematics of the metamorphic multifingered hand based on finger constraint equations. The finger constraint equations lead to a comprehensive mathematical model of the hand with a reconfigurable palm which integrates all finger motions with the additional palm motion. Singular values of the partitioned Jacobian matrix in their analytical form are derived and applied to obtaining analytical solution to inverse kinematics of a complete robotic hand. The paper for the first time solves this integrated motion and the multifingered hand model with the singular value decomposition and extra degrees of freedom are examined with the singular value analysis to avoid the singularities. The work identifies finger displacement and velocity with effect from the articulated palm and presents a new way of analyzing a multifingered robotic hand. 2012 Journal Article http://hdl.handle.net/20.500.11937/8621 10.1115/1.4006187 ASME Press restricted |
| spellingShingle | Cui, Lei Dai, J. Reciprocity-based singular value decomposition for inverse kinematic analysis of the metamorphic multifingered hand |
| title | Reciprocity-based singular value decomposition for inverse kinematic analysis of the metamorphic multifingered hand |
| title_full | Reciprocity-based singular value decomposition for inverse kinematic analysis of the metamorphic multifingered hand |
| title_fullStr | Reciprocity-based singular value decomposition for inverse kinematic analysis of the metamorphic multifingered hand |
| title_full_unstemmed | Reciprocity-based singular value decomposition for inverse kinematic analysis of the metamorphic multifingered hand |
| title_short | Reciprocity-based singular value decomposition for inverse kinematic analysis of the metamorphic multifingered hand |
| title_sort | reciprocity-based singular value decomposition for inverse kinematic analysis of the metamorphic multifingered hand |
| url | http://hdl.handle.net/20.500.11937/8621 |