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dc.contributor.authorCui, Lei
dc.contributor.authorDai, J.
dc.contributor.editorPierre Larochelle
dc.date.accessioned2017-01-30T12:14:43Z
dc.date.available2017-01-30T12:14:43Z
dc.date.created2013-10-10T20:00:34Z
dc.date.issued2010
dc.identifier.citationCui, Lei and Dai, Jian S. 2010. Singular-Value Decomposition Based Kinematic Analysis of the Metamorphic Multifingered Hand, in Larochelle, P. (ed), ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), Aug 15-18 2010. Montreal, Canada: ASME Press.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/19603
dc.identifier.doi10.1115/DETC2010-28653
dc.description.abstract

This paper investigates kinematics of the metamorphic multifingered robotic hand based on screw system analysis and singular value decomposition. The paper integrates the singular value decomposition with screw system and generates the reciprocity-based Jacobian matrices of a multifingered hand. This leads to the geometric constraint equation of the articulated palm as the typical feature of this robotic hand and to the kinematics characteristics equation of the hand. Symbolic singular values of the sub-matrices are derived and applied to obtaining analytical solution to inverse kinematics. The singular value decomposition helps identifying finger displacement and velocity with effect from the articulated palm and extra degrees of freedom are examined with the singular value analysis to avoid the singularities.

dc.publisherASME Press
dc.subjecthand
dc.subjectkinematics
dc.subjectmultifingered
dc.subjectSingular-value decomposition
dc.subjectrobotics
dc.subjectmetamorphic
dc.titleSingular-Value Decomposition Based Kinematic Analysis of the Metamorphic Multifingered Hand
dc.typeConference Paper
dcterms.source.titleProceedings of the ASME 2010 International Design Engineering Technical Conferences
dcterms.source.seriesProceedings of the ASME 2010 International Design Engineering Technical Conferences
dcterms.source.conferenceASME 2010 International Design Engineering Technical Conferences (IDETC)
dcterms.source.conference-start-dateAug 15 2010
dcterms.source.conferencelocationMontreal, Canada
dcterms.source.placeNew York
curtin.department
curtin.accessStatusFulltext not available


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