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Local sensory control of a dexterous end effector
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Driels Sr., Morris Everett, Louis J. Pinto, Victor H. |
| Copyright Year | 1990 |
| Description | 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. |
| File Size | 2179852 |
| Page Count | 87 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19910008073 |
| Archival Resource Key | ark:/13960/t3130sd96 |
| Language | English |
| Publisher Date | 1990-12-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Computer Vision Triangulation Algorithms Robot Control Inverse Kinematics Manipulators End Effectors Targets Robot Dynamics Robotics Robots Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Technical Report |
