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Inverse kinematics for a multifingered hand

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2 Author(s)
Koehler, T. ; Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA ; Donath, M.

One aspects of the control of multifingered hands is discussed, nearly inverse kinematics. For a serial-link manipulator with a multifingered hand attached to its distal link, the inverse kinematics of the hand and of the manipulator can be treated separately. The inverse kinematic solution for a three-fingered, nine-degree-of-freedom hand is described. The solution presented for the general configuration of the hand is unique and unambiguous; however, this is not the case for certain joint configurations, which are identified

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988