In this paper, a kinematic model for motion coordination of a redundant multi-fingered robotic hand is derived, which allows to compute the object pose from the joint variables of each finger as well as from a suitable set of contact variables. Then, a prioritized inverse kinematics scheme with redundancy resolution, both with inverse and transpose Jacobian matrix, is developed. This algorithm can be used for kinematic control as well as a local planning method for dexterous manipulation. A simulation case study is presented to demonstrate the effectiveness of the proposed approach.
Exploiting redundancy in closed-loop inverse kinematics for dexterous object manipulation / Lippiello, Vincenzo; Ruggiero, Fabio; Villani, Luigi. - (2009), pp. 1-6. (Intervento presentato al convegno International Conference on Advanced Robotics tenutosi a Munich, Germany nel June).
Exploiting redundancy in closed-loop inverse kinematics for dexterous object manipulation
LIPPIELLO, VINCENZO;RUGGIERO, FABIO;VILLANI, LUIGI
2009
Abstract
In this paper, a kinematic model for motion coordination of a redundant multi-fingered robotic hand is derived, which allows to compute the object pose from the joint variables of each finger as well as from a suitable set of contact variables. Then, a prioritized inverse kinematics scheme with redundancy resolution, both with inverse and transpose Jacobian matrix, is developed. This algorithm can be used for kinematic control as well as a local planning method for dexterous manipulation. A simulation case study is presented to demonstrate the effectiveness of the proposed approach.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
