Algorithm for Computing Fingertip Positions of a Multifingered Hand in Three Dimensions

元データ 1995-12-15 一般社団法人日本機械学会

概要

This paper discusses an algorithm for computing fingertip positions of a multifingered hand in three dimensions. The problem of computing fingertip positions which satisfy equilibrium equations becomes a nonlinear programming problem. The nonlinear condition of the problem is bilinear. Hence, the problem is reduced to a linear programming problem by using the optimum solution obtained from the relaxed problem of the nonlinear programming problem.

著者

Yamada Takayoshi Department Of Gastroenterology And Hepatology Kochi Medical School
Yamada Takayoshi Department Of Mechanical Engineering Nagoya Institute Of Technology
FUNAHASHI Yasuyuki Department of Mechanical Engineering, Nagoya Institute of Technology
Yamada T Tokyo Medical And Dental Univ. Tokyo Jpn
Funahashi Yasuyuki Department Of Mechanical Engineering Nagoya Institute Of Technology
Funahashi Yasuyuki Department Of Mechanical Engineering

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