Abstract
The intersection workspace of multi-finger hands means the overlapping workspace in 3D Euclidean space where several fingertips can reach together, and is very valuable for grasp space planning, motion control and mechanical design for multi-finger hands. But, the intersection workspaces usually have sophisticated forms, which are really hard for robotic experts to image them. We present a general approach to visualize and analyze the intersection workspace of multi-finger hands. We firstly deduce the displacement equation of the fingertip, then generate 3D workspace of the fingertip and lastly obtain the intersection workspace of the multi-finger hands. This approach can visualize intersection workspaces with integrated forms and contours, and analyze the volume of the intersection workspaces. The vivid form and volume analysis of intersection workspaces are useful for robotic experts to accurately and intuitionally understand the fingertip motion ranges, plan the motion routes of fingers and avoid the motion collision among fingers.
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Acknowledgements
This research was supported by Key Project of the National Natural Science Foundation of China (No. 61332017), Zhejiang Province Public Welfare Project of China (No. 2016C33174), Zhejiang Provincial Natural Science Foundation of China (No. LY13E050025) and National High-Tech Research and Development Program of China (No. 2013AA013703). The authors appreciate the anonymous reviewers for valuable comments and suggestions.
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Wenzhen, Y., Xianquan, L., Xinli, W. et al. Intersection workspace visualization of multi-finger hands. Vis Comput 33, 1253–1263 (2017). https://doi.org/10.1007/s00371-017-1421-6
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DOI: https://doi.org/10.1007/s00371-017-1421-6