Inverse kinematics of dexterous finger with linkage mechanism

Abstract

When the last two joints of robotic dexterous finger are mechanically coupled by means of planar four-bar linkage mechanism,it is very difficult to directly solve the inverse kinematics of the finger.A new approximate solution based look-up table and interpolation method is proposed.In the algorithm,the closed solution,which has been calculated when assuming positions of the last two joints are equal,is used as approximate solution,and then the solution is modified by look-up table and linear interpolation,finally the accurate solution can be obtained.The computational cost of the proposed algorithm is slightly greater than that of the approximate solution,while the method has higher accuracy.