An algorithm for the kinematics of dexterous manipulation

In order for a multi-fingered hand to dexterously manipulate an object, the joint motions must be determined from the desired object motions. In this paper, we use orthogonal decompositions of the spaces of object velocities and joint velocities to develop an algorithm for formulating differential relationships between the motions of the object and joints. The relationships of all possible object velocities and joint velocities satisfying the contact constraints are expressed. The relationships from mobility analysis are also obtained. The method is applicable to all manipulation systems and contact models. Three examples are presented to illustrate the effectiveness of the algorithm