Spherical trigonometry-based kinematics for controlling a dexterous robotic hand with an articulated palm

Emmanouil, E, Wei, G and Dai, J 2015, 'Spherical trigonometry-based kinematics for controlling a dexterous robotic hand with an articulated palm' , Robotica, 34 (12) , pp. 2788-2805.

Full text not available from this repository. (Request a copy)

Abstract

This work presents a method based on spherical trigonometry for computing all joint angles of the spherical metamorphic palm. The spherical palm is segmented into spherical triangles which are then solved and combined to fully solve the palm configuration. Further, singularity analysis is investigated with the analysis of each spherical triangle the palm is decomposed. Singularity-avoidance-based design criteria are then presented. Finally, point clouds are generated that represent the joint space of the palm as well as the workspace of the hand with the advantage of an articulated palm is shown.

Item Type: Article
Themes: Subjects outside of the University Themes
Schools: Schools > School of Computing, Science and Engineering > Salford Innovation Research Centre (SIRC)
Journal or Publication Title: Robotica
Publisher: Cambridge University Press
Refereed: Yes
ISSN: 0263-5747
Related URLs:
Funders: EU 7th Framework Programme for Research and Technological Development
Depositing User: Dr Guowu Wei
Date Deposited: 29 May 2015 17:48
Last Modified: 26 May 2017 08:52
URI: http://usir.salford.ac.uk/id/eprint/34604

Actions (login required)

Edit record (repository staff only) Edit record (repository staff only)