Para acceder a los documentos con el texto completo, por favor, siga el siguiente enlace: http://hdl.handle.net/2117/17121

Kinematic synthesis of multi-fingered robotic hands for finite and infinitesimal tasks
Simó Serra, Edgar; Pérez Gracia, Alba; Moon, Hyosang; Robson, Nina
Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
In this paper we present a novel method of designing multi-fingered robotic hands using tasks composed of both finite and infinitesimal motion. The method is based on representing the robotic hands as a kinematic chain with a tree topology. We represent finite motion using Clifford algebra and infinitesimal motion using Lie algebra to perform finite dimensional kinematic synthesis of the multifingered mechanism. This allows tasks to be defined not only by displacements, but also by the velocity and acceleration at different positions for the design of robotic hands. The additional information enables an increased local approximation of the task at critical positions, as well as contact and curvature specifications. An example task is provided using an experimental motion capture system and we present the design of a robotic hand for the task using a hybrid Genetic Algorithm/Levenberg-Marquadt solver.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Manipulators robot
Kinematics
manipulators robot kinematics
Robots -- Cinemàtica -- Models matemàtics
Artículo - Borrador
info:eu-repo/semantics/conferenceObject
Springer
         

Mostrar el registro completo del ítem

Documentos relacionados

Otros documentos del mismo autor/a

Simó Serra, Edgar; Moreno-Noguer, Francesc; Pérez Gracia, Alba
Simó Serra, Edgar; Torras, Carme; Moreno-Noguer, Francesc
Simó Serra, Edgar; Trulls Fortuny, Eduard; Ferraz, Luis; Kokkinos, Iasonas; Fua, Pascal; Moreno-Noguer, Francesc
Simó Serra, Edgar; Pegueroles Queralt, Jordi