Manipulation strategy for an anthropomorphic robotic hand

This work presents a manipulation strategy for a anthropomorphic robotic hand based on the use of distinct model topologies and the analytical solution for the inverse kinematics. To evaluate the approach a pencil handling example is implemented using the Brazilian Anthropomorphic Hand - BRAHMA, a f...

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Bibliographic Details
Published in2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) Vol. 2; pp. 1656 - 1661 vol.2
Main Authors Caurin, G.A.P., Albuquerque, A.R.L., Mirandola, A.L.A.
Format Conference Proceeding
LanguageEnglish
Published Piscataway NJ IEEE 2004
Subjects
Anthropomorphism
Applied sciences
Computer science; control theory; systems
Control system synthesis
Control theory. Systems
Exact sciences and technology
Fingers
Kinematics
Numerical simulation
Orbital robotics
Position control
Robots
State-space methods
Testing
Topology
Position control
Non linear model
Kinematics
Finger
Control synthesis
State space method
Topology
Hand
Modeling
Linear model
Robotics
Inverse problem
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Summary:This work presents a manipulation strategy for a anthropomorphic robotic hand based on the use of distinct model topologies and the analytical solution for the inverse kinematics. To evaluate the approach a pencil handling example is implemented using the Brazilian Anthropomorphic Hand - BRAHMA, a five fingers artificial robotic hand with 22 degree of freedom. Additionally a state space position control for the joints was implemented. The non-linear model is piece-wise linearized and linear models are used to design the control. The manipulation strategy is tested imposing a movement to the pencil that the BRAHMA controller and the results are presented through numeric simulation.
ISBN:9780780384637
0780384636
DOI:10.1109/IROS.2004.1389633