A Kinematic Study of the Merlin 6500 Robot and the UTAH/MIT Dexterous Hand and a Simulation of their Combined Behavior

Abstract

This report deals with the kinematics of the advanced, dexterous, four-fingered, sixteen jointed end-effector system called the UTAH/MIT hand and the industrial type six jointed MERLIN 6500 manipulator. The methodology of kinematic analysis, the direct and inverse kinematics of the MERLIN manipulator and the direct kinematics of the UTAH/MIT hand are presented. A computer graphical simulation program for the two systems, when combined together, is also carried out in this study. Certain key issues involved in the development of kinematics for manipulator systems with dexterous end-effectors are also discussed.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1988
Accession Number
ADA203907

Entities

People

  • Kuldip S. Rattan
  • Ranvir S. Solanki

Organizations

  • Armstrong Laboratory

Tags

Communities of Interest

  • Autonomy
  • Biomedical
  • Materials and Manufacturing Processes
  • Space

DTIC Thesaurus Topics

  • Air Force
  • Computations
  • Computer Programs
  • Computer Simulations
  • Computers
  • Coordinate Systems
  • Geometry
  • Ground Level
  • Joints (Anatomy)
  • Kinematics
  • Manipulators
  • Plastic Explosives
  • Relative Motion
  • Simulations
  • Teleoperation
  • Three Dimensional
  • Two Dimensional

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Translation
  • Autonomy