Motion Planning For A Four-Fingered Robotic Hand

摘要

In this paper, the concept of trajectory planning is discussed for a four-fingered tendon actuated robotic hand. The finger of the robotic hand is desired to follow a given trajectory using the best solutions out of the number of inverse kinematics solutions. The priority of the finger is to track the given trajectory. The pseudo-inverse of the jacobian matrix is utilized for the accomplishment of this task where the general solution of joint velocity was interpreted by means of the generalized inverse of the jacobian matrix. Numerical simulation is performed for straight line, circular and elliptical trajectory to show the efficacy of the control scheme.