Inverse Kinematics Analyses of 3-finger Robot Dexterous Hand Based on Screw Theory

Abstract

Abstract: A novel inverse kinematics algorithm was proposed based on screw theory in order to improve operation efficiency of inverse kinematics for 3-finger robot dexterous hand. Taking Shadow 3-finger robot dexterous hand as an example, because inverse kinematics might not be solved directly by Paden-Kahan sub problem, an inverse solution of index finger(ring finger) was combined with algebraic solution and Paden-Kahan sub problem. The inverse solution of thumb was combined with numerical method and Paden-Kahan sub problem. Finally, validity and feasibility of the algorithms were proved by an example. Under the premise of ensuring accuracy, the algorithms have obvious geometric meaning, less computation, and high efficiency.

Key words: screw theory, dexterous hand, inverse kinematics, Paden-Kahan sub problem

摘要： 为提高三指机器人灵巧手逆运动学的求解效率，提出了基于旋量理论的逆运动学新的求解算法。以Shadow三指灵巧手为例，在无法直接利用单纯的Paden-Kahan 子问题求解逆运动学的条件下，食指（无名指）的逆解采用Paden-Kahan子问题与代数解相结合的算法，拇指的逆解采用数值法与Paden-Kahan子问题相结合的算法。最后通过计算实例证明了算法的有效性和可行性。该算法在保证精度的前提下，几何意义明显，耗费时间短，效率高。

关键词: 旋量理论, 灵巧手, 逆运动学, Paden-Kahan子问题

CLC Number:

TP242

PEI Jiufang;XU Dezhang;WANG Hai. Inverse Kinematics Analyses of 3-finger Robot Dexterous Hand Based on Screw Theory[J]. China Mechanical Engineering.

裴九芳;许德章;王海. 基于旋量理论的三指机器人灵巧手逆运动学分析[J]. 中国机械工程.

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