Referenced Items are not available for this document.
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
- Page(s):
- 234 - 239 vol.1
- Meeting Date :
- 24 Apr 1988-29 Apr 1988
- Print ISBN:
- 0-8186-0852-8
- INSPEC Accession Number:
- 3227964
- Conference Location :
- Philadelphia, PA
- Digital Object Identifier :
- 10.1109/ROBOT.1988.12053
- Product Type:
- Conference Publications
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