INVERSE KINEMATICS FOR A MULTI-FINGERED HAND.

Tom Koehler, Max Donath

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

One aspect 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.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages234-239
Number of pages6
ISBN (Print)0818608528
StatePublished - Jan 1 1988

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