Determination of the spatial position and orientation of the links of the robot anthropomorphic grip by the solution of the direct and inverse kinematics problem

Abstract

A method of determining the spatial position and orientation of the finger of an anthropomorphic grip by a robot is presented in this paper with three degrees of mobility based on solving the direct and inverse kinematics problem. A feature of the gripping device is a common drive for the motion transfer to the executive group of links. The proposed method makes it possible to determine the spatial position of the gripping devise links which based on the direct and invers kinematics problem. The method is based on the Denavit–Hartenberg representation; in this case, we can do the direct calculations of the nodes coordinates with minimal processing power. It is proposed to use a geometric method for determining the angles of the finger links orientation for the anthropomorphic gripping device of a robot