Inverse kinematics is the process of converting a Cartesian point in space into a set of joint angles to more efficiently move the end effector of a robot to a desired orientation. This project investigates the inverse kinematics of a robotic hand with fingers under various scenarios. Assuming the parameters of a provided robot, a general equation for the end effector point was calculated and used to plot the region of space that it can reach. Further, the benefits obtained from the addition of a prismatic joint versus an extra variable angle joint were considered. The results confirmed that having more movable parts, such as prismatic points and changing angles, increases the effective reach of a robotic hand.
This article was previously called Article 18.
Undergraduate Journal of Mathematical Modeling: One + Two:
1, Article 6.
DOI: http://dx.doi.org/10.5038/2326-3622.214.171.124 Available at: http://scholarcommons.usf.edu/ujmm/vol3/iss1/18
Fernando Burgos, Mathematics and Statistics
Mayur Palankar, Computer Science and Engineering