Multifingered Hand Kinematics
From MLSwiki
Jump to navigationJump to searchThe printable version is no longer supported and may have rendering errors. Please update your browser bookmarks and please use the default browser print function instead.
Prev: Robot Dynamics and Control | Chapter 5 - Multifingered Hand Kinematics | Next: Hand Dynamics and Control |
In this chapter, we study the kinematics of a multifingered robot hand grasping an object. Given a description of the fingers and the object, we derive the relationships between finger and object velocities and forces, and study conditions under which a grasp can be used to manipulate an object. In addition to the usual fixed contact case, we also include a complete derivation of the kinematics of grasp when the fingers are allowed to roll or slide along the object.