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A New Extended SDLS to Deal with the JLA in the Inverse Kinematics of an Anthropomorphic Robotic Hand

  • Conference paper
ROBOT2013: First Iberian Robotics Conference

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 253))

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Abstract

This paper proposes Extending the Selectively Damped Least Squares method to cater for joint limits avoidance (JLA) when solving the inverse kinematics of anthropomorphic robotic hands. Here, the SDLS is considered as the main task allowing to avoid singularity behaviors by computing for each singular value an appropriate damping factor of a Jacobian matrix concatenating the proper kinematics of the robotic hand with an additional task (JLA) projected into the null-space of the main task. A comparative study of different orders-norm of the objective function defining the JLA task has been done with the aim to select the suitable order which is able to overcome the mentioned constraints with less instability and errors. After an initial tuning to choose the right parameters, the method was applied to calculate the kinematics of all fingers’ joints of a robotic hand to fulfill a grasping task. The method achieves the solution of all fingers together as one complex multibody system.

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Author information

Authors and Affiliations

  1. Roboticslab, Systems Engineering and Automation Department, University Carlos III of Madrid, Madrid, Spain

    Choukri Bensalah, Javier González-Quijano & Mohamed Abderrahim

  2. Faculty of Mathematics, Informatics and Natural Science, Department Informatics, Group TAMS, University of Hamburg, Hamburg, Germany

    Jianwei Zhang

Authors
  1. Choukri Bensalah
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  2. Javier González-Quijano
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  3. Jianwei Zhang
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  4. Mohamed Abderrahim
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Corresponding author

Correspondence to Choukri Bensalah .

Editor information

Editors and Affiliations

  1. CAR UPM-CSIC, Agencia Estatal Consejo Superior de Investigaciones CientĂ­ficas (CSIC), Arganda del Rey, Spain

    Manuel A. Armada

  2. Universitat Politècnica de Catalunya (UPC), Barcelona, Spain

    Alberto Sanfeliu

  3. Universidad Politécnica de Madrid (UPM), Madrid, Spain

    Manuel Ferre

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© 2014 Springer International Publishing Switzerland

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Bensalah, C., González-Quijano, J., Zhang, J., Abderrahim, M. (2014). A New Extended SDLS to Deal with the JLA in the Inverse Kinematics of an Anthropomorphic Robotic Hand. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 253. Springer, Cham. https://doi.org/10.1007/978-3-319-03653-3_47

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  • DOI: https://doi.org/10.1007/978-3-319-03653-3_47

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-03652-6

  • Online ISBN: 978-3-319-03653-3

  • eBook Packages: EngineeringEngineering (R0)

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