Reciprocity-Based Singular Value Decomposition for Inverse Kinematic Analysis of the Metamorphic Multifingered Hand
作者： Lei Cui , Jian S. Dai
DOI: 10.1115/1.4006187
关键词:
摘要: With a new type of multifingered hand that raises philosophy in the construction and study hand, this paper is follow-on kinematics metamorphic robotic by proposing finger-constraint equations. The equations lead to comprehensive mathematical model with reconfigurable palm which integrates all finger motions additional motion. Singular values partitioned Jacobian matrix their analytical form are derived applied obtaining solution inverse complete hand. for first time solves integrated motion singular value decomposition extra degrees freedom examined analysis avoid singularities. work identifies displacement velocity effect from articulated presents way analyzing
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