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In-hand forward and inverse kinematics with rolling contact

Published online by Cambridge University Press:  27 February 2017

Lei Cui ,
Jie Sun  and
Jian S. Dai
Lei Cui*
Affiliation:
Department of Mechanical Engineering, Curtin University, Perth, Australia
Jie Sun
Affiliation:
Centre for Robotics Research, King's College London, London, UK. E-mails: jie.sun@kcl.ac.uk, jian.dai@kcl.ac.uk
Jian S. Dai
Affiliation:
Centre for Robotics Research, King's College London, London, UK. E-mails: jie.sun@kcl.ac.uk, jian.dai@kcl.ac.uk
*
*Corresponding author. E-mail: lei.cui@curtin.edu.au
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Summary

Robotic hands use rolling contact to manipulate a grasped object to a desired location, even when the finger and the palm linkage mechanisms lack degrees of freedom. This paper presents a systematic approach to the forward and inverse kinematics of in-hand manipulation. The moving frame method in differential geometry is integrated into the product of exponential formula to establish a pure geometric framework of the kinematics of a robot hand. The forward and inverse kinematics of a multifingered hand are obtained in terms of the joint rates and contact trajectories. A two-fingered planar robot hand and a three-fingered spatial robot hand are used to demonstrate the proposed approach. The proposed formulation amounts to solving a univariate polynomial, providing an alternative to the existing ones that require numerical integration.

Keywords

ContactRollingKinematicsMultifingered handsManipulationProduct of exponentialMoving frame method
Type
Articles
Information
Robotica , Volume 35 , Issue 12 , December 2017 , pp. 2381 - 2399
Copyright
Copyright © Cambridge University Press 2017 

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