Spherical trigonometry-based kinematics for controlling a dexterous robotic hand with an articulated palm
(2015)
Journal Article
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
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 configur... Read More about Spherical trigonometry-based kinematics for controlling a dexterous robotic hand with an articulated palm.