NDLI: Analysis of the Grasp Planning Method for Manipulation of BH-4 Dextrous Hand

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Guo, Weidong Mileta, M. Tomovic Li, Jiting
Copyright Year	2007
Abstract	The paper presents method for planning robotic dexterous hand grasping task using example of the Beihang University’s BH-4 dexterous hand. The grasping planning method is devised through modeling and simulation and experimentally verified using physical prototype. The paper presents the method for forward and inverse kinematic solutions of the BH-4 robot 4-DOF finger, including transformation matrix between the palm coordinate system and the finger base coordinate system. In addition, the method of the idiographic manipulation is presented using example of ball grasping. The simulation results and physical experiment verify that the inverse kinematic solution is correct, and kinematic grasping and operating planning is valid and feasible. Finally, the experiment with the complex system integrated robot arm with dexterous hand is carried out. Experimental result shows that the more complicated grasping task can be done by a dexterous hand integrated in the robot arm system.
Starting Page	1307
Ending Page	1312
Page Count	6
File Format	PDF
ISBN	0791843033
DOI	10.1115/IMECE2007-41683
e-ISBN	0791838129
Volume Number	Volume 9: Mechanical Systems and Control, Parts A, B, and C
Conference Proceedings	ASME 2007 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2007-11-11
Publisher Place	Seattle, Washington, USA
Access Restriction	Subscribed
Subject Keyword	Kinematic analysis Virtual prototyping Dexterous hand Grasping planning Simulation results Simulation Grasping Kinematics Complex systems Engineering prototypes Modeling Robotics Robots
Content Type	Text
Resource Type	Article

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