Abstract
The kinematic design of robots for tasks involving positions and its derivatives has been explored in the past in order to shape the trajectory of the robot at a given set of points. This approach has been successful for the synthesis of linkages for grasping applications; however defining a single velocity in the vicinity of a specified location might not be enough for a desired manipulation task. In the synthesis of multi-fingered robotic hands, it is interesting to ask whether a hand can be designed for a certain in-hand manipulation task that ensures contact and at the same time relative motion of the fingertips on the object surface in multiple desired directions. In this article we define a method for designing robotic hands that guide an object through a kinematic task with velocity specifications in the vicinity of key task positions. Given the mobility for a hand topology, the necessary velocities are derived at each task position to fully define a subspace of allowable directions for object manipulation. As an example, a multi-fingered robotic hand for an in-hand manipulation of a body with a known geometry has been designed. The proposed synthesis technique is the first step in creating tangent spaces in the vicinity of positions to successfully guide a body for desired manipulation tasks.
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Acknowledgements
This work is supported by the National Science Foundation (first and fourth authors: under Grant No. 1208385; second and third authors: Grant No. 1404011 and 2013–2908). The content is solely the authors’ responsibility.
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Hassanzadeh, N., Ghosh, S., Robson, N. (2018). In-Hand Manipulative Synthesis Using Velocity Subspaces. In: Lenarčič, J., Merlet, JP. (eds) Advances in Robot Kinematics 2016. Springer Proceedings in Advanced Robotics, vol 4. Springer, Cham. https://doi.org/10.1007/978-3-319-56802-7_25
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DOI: https://doi.org/10.1007/978-3-319-56802-7_25
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