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

Emmanouil, E; Wei, G; Dai, J

Authors

E Emmanouil

J Dai



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.

Citation

Emmanouil, E., Wei, G., & Dai, J. (2015). Spherical trigonometry-based kinematics for controlling a dexterous robotic hand with an articulated palm. Robotica, 34(12), 2788-2805. https://doi.org/10.1017/S0263574715000399

Journal Article Type Article
Acceptance Date May 11, 2015
Online Publication Date Jun 17, 2015
Publication Date Jun 17, 2015
Deposit Date May 29, 2015
Journal Robotica
Print ISSN 0263-5747
Electronic ISSN 1469-8668
Publisher Cambridge University Press (CUP)
Peer Reviewed Peer Reviewed
Volume 34
Issue 12
Pages 2788-2805
DOI https://doi.org/10.1017/S0263574715000399
Publisher URL http://dx.doi.org/10.1017/S0263574715000399
Related Public URLs http://journals.cambridge.org/action/displayJournal?jid=ROB