Kinematic Model of a Robot Hand and Computation of Grasp Matrix using Screw Systems
When measuring the quality of a grasp and while searching for an optimal gripping in a particular task, grasp matrix must be calculated. In the article a method of modelling kinematics of a robot hand is proposed which makes this calculation relatively simple. The hand is represented by a skeleton of lines. Dual orthogonal matrices are calculated yielding the kinematic equations of the hand. The same matrices are also used to calculate the grasp matrix. Finally, an example of proposed calculation is given.
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