Inverse Kinematic Analysis for Control of Human-Like Ambidextrous Robotic Hands

Abstract

This paper discusses the design of two human-like robotic hands. The kinematics of this design was introduced to offer a more generic, speedy, and precise solution for a wide range of robotic applications. This research is focused on integration of the control of both arms and hands as one entity. A solution involving several manipulators requires coordination between them. In order to arrange a stable grasp, the angle of inclination of the predefined hand orientation normal was used with the angle of inclination of the object's center of gravity vector. The center of the gravity vector was calculated using the image intensity of the object splines. The splines of the predefined hand contact points were adapted to the object 3D model splines. The maximal and minimal values of the joints' angle ranges were measured to define the fingers' workspace. Gestures were classified as prismatic and circular, regardless ofthe grasping power or precision, while the circular grasping implied a strong correlation among the finger joints. The human-like hands were intended for many applications involving a specific series of tasks like artificial limbs of the handicapped people, they were also meant for the fire fighters, production workers, surgeons, and for use as a research platform.