Hostname: page-component-cd9895bd7-mkpzs Total loading time: 0 Render date: 2024-12-17T02:47:39.601Z Has data issue: false hasContentIssue false
  • English
  • Français

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)
Get access Rights & Permissions [Opens in a new window]

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

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Masson, M.T. and Salisbury, J.K., Robot Hands and the Mechanics of Manipulation (The MIT Press, London, England, 1985).Google Scholar
2.Jacobsen, S.C., Wood, J.F., Knutti, D.F. and Biggers, K.B., “The UTAH/MIT Dextrous Hand: Work in Progress” Int. J. Robotics Research 3, No. 4, 21–50 (1984).CrossRefGoogle Scholar
3.Jacobsen, S.C., Knutti, D.F., Johnson, R.T. and Sears, H.H., “Development of the UTAH Artificial Arm” IEEE Transactions on Biomedical Engineering BME-29, No. 4, 249–269 (04, 1982).CrossRefGoogle Scholar
4.Salisbury, J.K. and Craig, J.J., “Articulated Hands: Force Control and Kinematic Issues” Int. J. Robotics Research 1, No. 1, 4–17 (1982).CrossRefGoogle Scholar
5.Caporali, M. and Shahinpoor, M., “Design and Construction of a 5-Fingered Robotic Hand” Robotics Age 14–24 (1984).Google Scholar
6.Meghdari, A., Mahmoudian, M. and Arefi, M., “Kinematics and Dynamics Modeling of the Sharif Artificial Hand” Advances in Bioengineering, Proc. of the 1989 ASME WAM, BED-15, San Francisco, CA (12, 1989) pp. 57–58.Google Scholar
7.Meghdari, A., Arefi, M. and Mahmoudian, M., “Biomechanical Aspects of the Sharif Artificial Hand” Proc. of the IASTED'S BIOMED' 90: Int. Conf. on Comp. & Adv. Tech. in Medicine, Healthcare and Bioengineering Honolulu, Hawaii (08, 1990) pp. 32–36.Google Scholar
8.Meghdari, A., Arefi, M. and Mahmoudian, M., “Geometric Adaptability: A Novel Mechanical Design in the Sharif Artificial Hand” Proc. of the 1991 ASME Applied Mechanics and Biomechanics Conf. & Symp., AMD-120, Columbus, OH (06, 1991) pp. 219–223.Google Scholar
9.Grupen, R.A., Henderson, T.C. and McCammon, I.D., “A Survey of General Purpose Manipulation” Int. J. Robotics Research 8, No. 1, 38–61 (1989).CrossRefGoogle Scholar
10.Singh, S. and Leu, M.C., “Optimal Trajectory Generation for Robotic Manipulators using Dynamic Programming” Trans, of the ASME, J. of Dynamic System, Measurement and Control 109, 88–96 (1987).Google Scholar
11.Vukobratovic, M. and Kircanski, M., “A Method for Optimal Synthesis of Manipulation Robot Trajectories” Trans, of the ASME, J. of Dynamic Systems, Measurement and Control 104, 188–193 (1982).Google Scholar
12.Thakor, N.V. and McNeela, M.A., “Application of a Dynamic Programming Algorithm for Trajectory Planning of a Finger-like Manipulator” J. Robotic Systems 4, No. 3, 341–354 (1987).CrossRefGoogle Scholar
13.Shin, K. and McKay, N., “A Dynamic Programming Approach to Trajectory Planning of Robotic Manipulators” IEEE Trans, on Automatic Control AC-31, No. 6, 491–500 (1986).Google Scholar
14.Craig, J.J., Introduction to Robotics: Mechanics and Control 2nd Ed. (Addison Wesley Pub. Co., New York, 1989).Google Scholar
15.Shahinpoor, M., A Robot Engineering Textbook (Harper & Row Pub. Co., New York, 1987).Google Scholar
16.Sayyaadi, H., “Theory of Contact and Optimization in Trajectory Planning for Finger-like Manipulators” M.Sc. Thesis (Dept. of Mech. Engr., Sharif University of Technology, Tehran, Iran, 09, 1990).Google Scholar
17.Bellman, R.E. and Dreyfus, S.E., Applied Dynamic Programming (Princeton University Press, New York, 1962).CrossRefGoogle ScholarPubMed