Abstract
The work discusses the issue of planning movements in common plane of cooperating 4-DOF serial manipulators, of which the 28-DOF anthropomorphic manipulator Hand-K3 consists. On the basis of these studies are proposed guidelines in order to create algorithms for controlling the movements of each finger’s segment. Based on the applied tactile sensors placed on all segments of the finger’s modules, in order to obtain a reduction of computational time that is essential for planned movements during the grasping of an object of undetermined shape and in undefined position relative to manipulator’s working space, the new criteria of control were determined.
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References
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Acknowledgments
The research work reported here was developed within the research project: Prehensile parameters and efficiency studies of the Hand-K3 manipulator prototype (N N514 676740) founded by the National Science Center in Krakow.
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Handke, A., Twaróg, W. (2012). Method for Planning the Finger’s Movement in the Anthropomorphic Manipulator Hand-K3, Using a Tactile Sensors Network, with the Aim of Optimal Grasping. In: Beran, J., Bílek, M., Hejnova, M., Zabka, P. (eds) Advances in Mechanisms Design. Mechanisms and Machine Science, vol 8. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-5125-5_40
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DOI: https://doi.org/10.1007/978-94-007-5125-5_40
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