DocumentCode
1860390
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
fYear
1993
fDate
2-6 May 1993
Firstpage
705
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.291823
Filename
291823
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