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dc.contributor.authorCui, Lei
dc.contributor.authorSun, J.
dc.contributor.authorDai, J.
dc.date.accessioned2017-03-24T11:52:39Z
dc.date.available2017-03-24T11:52:39Z
dc.date.created2017-03-23T06:59:51Z
dc.date.issued2017
dc.identifier.citationCui, L. and Sun, J. and Dai, J. 2017. In-hand forward and inverse kinematics with rolling contact. Robotica. In Press.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/51304
dc.identifier.doi10.1017/S026357471700008X
dc.description.abstract

Robotic hands use rolling contact to manipulate a grasped object to a desired location, even when the finger and the palm linkage mechanisms lack degrees of freedom. This paper presents a systematic approach to the forward and inverse kinematics of in-hand manipulation. The moving frame method in differential geometry is integrated into the product of exponential formula to establish a pure geometric framework of the kinematics of a robot hand. The forward and inverse kinematics of a multifingered hand are obtained in terms of the joint rates and contact trajectories. A two-fingered planar robot hand and a three-fingered spatial robot hand are used to demonstrate the proposed approach. The proposed formulation amounts to solving a univariate polynomial, providing an alternative to the existing ones that require numerical integration.

dc.publisherCambridge University Press
dc.titleIn-hand forward and inverse kinematics with rolling contact
dc.typeJournal Article
dcterms.source.startPage1
dcterms.source.endPage19
dcterms.source.issn0263-5747
dcterms.source.titleRobotica
curtin.departmentDepartment of Mechanical Engineering
curtin.accessStatusFulltext not available


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