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Optimizing motion trajectories of dextrous fingers by dynamic programming technique

Published online by Cambridge University Press:  09 March 2009

Ali Meghdari  and
Hassan Sayyaadi
Ali Meghdari
Affiliation:
Sharif University of Technology, Robotics, Biomechanics, & A.I. Laboratories, Department of Mechanical Engineering, Tehran (Iran)
Hassan Sayyaadi
Affiliation:
Sharif University of Technology, Robotics, Biomechanics, & A.I. Laboratories, Department of Mechanical Engineering, Tehran (Iran)
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Summary

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.

Keywords

Motion pathsDextrous fingersRobotsDynamic Programming.
Type
Article
Information
Robotica , Volume 10 , Issue 5 , September 1992 , pp. 419 - 426
Copyright
Copyright © Cambridge University Press 1992

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