Local sensory control of a dexterous end effector
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Authors
Pinto, Victor H.
Everett, Louis J.
Driels, Morris
Subjects
ALGORITHMS
COMPUTER VISION
END EFFECTORS
INVERSE KINEMATICS
MANIPULATORS
ROBOT CONTROL
ROBOT DYNAMICS
ROBOTICS
ROBOTS
TARGETS
TRIANGULATION
COMPUTER VISION
END EFFECTORS
INVERSE KINEMATICS
MANIPULATORS
ROBOT CONTROL
ROBOT DYNAMICS
ROBOTICS
ROBOTS
TARGETS
TRIANGULATION
Advisors
Date of Issue
1990-12
Date
Dec 01, 1990
Publisher
NASA
Language
Abstract
A numerical scheme was developed to solve the inverse kinematics for a user-defined manipulator. The scheme was based on a nonlinear least-squares technique which determines the joint variables by minimizing the difference between the target end effector pose and the actual end effector pose. The scheme was adapted to a dexterous hand in which the joints are either prismatic or revolute and the fingers are considered open kinematic chains. Feasible solutions were obtained using a three-fingered dexterous hand. An algorithm to estimate the position and orientation of a pre-grasped object was also developed. The algorithm was based on triangulation using an ideal sensor and a spherical object model. By choosing the object to be a sphere, only the position of the object frame was important. Based on these simplifications, a minimum of three sensors are needed to find the position of a sphere. A two dimensional example to determine the position of a circle coordinate frame using a two-fingered dexterous hand was presented.
Type
Technical Report
Description
Series/Report No
Department
Organization
Identifiers
NPS Report Number
Sponsors
Funding
NAG9-326
Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.