Computer Engineering Commons^™

Precision Grasp Using An Arm-Hand System As A Hybrid Parallel-Serial System: A Novel Inverse Kinematics Solution, Shuwei Qiu, Shuwei Qiu Ph.D., P.Eng.

Electrical and Computer Engineering Publications

In this letter, we present a novel inverse kinematics (IK) solution for a robotic arm-hand system to achieve precision grasp. This problem is kinematically over-constrained and to address the issue and to solve the problem, we propose a new approach with three key insights. First, we propose a human-inspired thumb-first strategy and consider one finger of the robotic hand as the “thumb” to narrow down the search space and increase the success rate of our algorithm. Second, we formulate the arm-thumb serial chain as a closed chain such that the entire arm-hand system is controlled as a hybrid parallel-serial system. …