Optimization in Trajectory Planning of Multi-Jointed Fingers in Dextrous Hand Designs
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Abstract An optimization technique based on the well known Dynamic Programming Algorithm is applied to the motion control trajectories and path planning of multi-jointed fingers in dextrous hand designs. A three fingered hand with each finger containing four degrees of freedom is considered for analysis. After generating the kinematics and dynamics equations of such a hand, optimum values of the joints torques and velocities are computed such that the finger-tips of the hand are moved through their prescribed trajectories with the least time or/and energy to reach the object being grasped. Finally, optimal as well as feasible solutions for the multi-jointed fingers are identified and the results are presented.
2016 ◽
Vol 817
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pp. 150-161
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1995 ◽
Vol 17
(3)
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pp. 149-152
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1978 ◽
Vol 26
(6)
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pp. 583-586
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2006 ◽
Vol 195
(44-47)
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pp. 6407-6427
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