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Dexterous Robotic Hands: Kinematics and Control
(1988-11-01)
This report presents issues relating to the kinematics and control of dexterous robotic hands using the Utah-MIT hand as an illustrative example. The emphasis throughout is on the actual implementation and testing of ...
A Dexterity Measure for the Kinematic Control of Robot Manipulator with Redundany
(1988-02-01)
We have derived a new performance measure, product of minors of the Jacobian matrix, that tells how far kinematically redundant manipulators are from singularity. It was demonstrated that previously used performance ...