IEEE - Institute of Electrical and Electronics Engineers, Inc. - Algebraic-elimination based solution of inverse kinematics for a humanoid robot finger

2011 IEEE International Conference on Mechatronics and Automation (ICMA)

Author(s): Ming-Tzong Lin ; Hong-Bo Lin ; Chung-Ching Liu ; Ying-Lung Lin ; Che-Hau Wu ; Cheng-Wei Tung
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 August 2011
Conference Location: Beijing, China, China
Conference Date: 7 August 2011
Page(s): 46 - 51
ISBN (CD): 978-1-4244-8114-9
ISBN (Electronic): 978-1-4244-8115-6
ISBN (Paper): 978-1-4244-8113-2
ISSN (CD): 2152-7431
ISSN (Paper): 2152-7431
DOI: 10.1109/ICMA.2011.5985629
Regular:

The inverse kinematics is a challenging problem for controlling a humanoid robot finger with nonlinearly coupled joints. In this paper, a novel approach is proposed to derive the... View More

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