The Kinematics of the Anthrobot-2 Dextrous Hand

Ali, M; Kyriakopoulos, K; Stephanou, H

dc.contributor.author	Ali, M	en
dc.contributor.author	Kyriakopoulos, K	en
dc.contributor.author	Stephanou, H	en
dc.date.accessioned	2014-03-01T02:48:10Z
dc.date.available	2014-03-01T02:48:10Z
dc.date.issued	1993	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33602
dc.subject	Inverse Kinematics	en
dc.subject	Robot Hand	en
dc.title	The Kinematics of the Anthrobot-2 Dextrous Hand	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.1993.291823	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.1993.291823	en
heal.publicationDate	1993	en
heal.abstract	An anthropomorphic dextrous robotic hand (Anthrobot-2) is described. Its forward and inverse kinematics, as well as its Jacobians are developed as the first step toward its utilization for either teleoperation or autonomous operation. The Anthrobot frames are assigned using the modified Denavit-Hartenberg formulation, referred to as the hand frame. A finger with proximal link contact point is described	en
heal.journalName	International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.1993.291823	en