DefinePK

Abstract

A new design of a three fingered robotic hand has been developed and verified for a grasping task based on a set of predetermined angle position. However, the robotic hand has limitation in integrating measurement from external sensors to create its own 3D position vector’s trajectory. Therefore, it is required to create a new mathematical kinematics equation for the hand that relates between the direct joint angles and the position vector of the finger-tip in order to produce motion based on Cartesian coordinates. The study derived the kinematics based on the joint and link dimensions of Finger 1 and 3 using geometrical approach due to their different styles of motion. Simulation results verified the correctness of the equations where the proposed inverse kinematics has correctly converted the position vector of tip-end to the required motor angles of each finger joint. Consequently, the kinematics is verified to be able to provide the angle references for the position control of the motors in real-time experiment according to the varied fingertip positions. The output of this study is beneficial to the robot control when trajectory needs be generated based on sensor information. Besides, individual control of separate finger joints between the fingers could increase the grasping flexibility and be a good reference for the development of the robot arm in future study.