ALGORITHM FOR COMPUTING FINGERTIP POSITIONS OF A MULTIFINGERED HAND IN 3 DIMENSIONS

Authors
FUNAHASHI Y YAMADA T
Citation
Y. Funahashi et T. Yamada, ALGORITHM FOR COMPUTING FINGERTIP POSITIONS OF A MULTIFINGERED HAND IN 3 DIMENSIONS, JSME international journal. Series C, dynamics, control, robotics, design and manufacturing, 38(4), 1995, pp. 735-742
Citations number
5
Categorie Soggetti
Engineering, Mechanical
Journal title
JSME international journal. Series C, dynamics, control, robotics, design and manufacturing → ACNP
ISSN journal
13408062
Volume
38
Issue
4
Year of publication
1995
Pages
735 - 742
Database
ISI
SICI code
1340-8062(1995)38:4<735:AFCFPO>2.0.ZU;2-0
Abstract
This paper discusses an algorithm for computing fingertip positions of a multifingered hand in three dimensions. The problem of computing fi ngertip positions which satisfy equilibrium equations becomes a nonlin ear programming problem. The nonlinear condition of the problem is bil inear. Hence, the problem is reduced to a linear programming problem b y using the optimum solution obtained from the relaxed problem of the nonlinear programming problem.