Title :
The kinematics of the Anthrobot-2 dextrous hand
Author :
Ali, M.S. ; Kyriakopoulos, K.J. ; Stephanou, H.E.
Author_Institution :
Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
An anthropomorphic dextrous robotic hand (Anthrobot-2) is described. Its forward and inverse kinematics, as well as its Jacobians are developed as the first step toward its utilization for either teleoperation or autonomous operation. The Anthrobot frames are assigned using the modified Denavit-Hartenberg formulation, referred to as the hand frame. A finger with proximal link contact point is described
Keywords :
kinematics; manipulators; Anthrobot-2; Jacobians; anthropomorphic dextrous robotic hand; autonomous operation; forward kinematics; inverse kinematics; modified Denavit-Hartenberg formulation; proximal link contact point; teleoperation; Anthropomorphism; End effectors; Fingers; Humans; Jacobian matrices; Kinematics; Robotics and automation; Robots; Spraying; Thumb;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291823
