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


ADA203907

Publication Date 1988
Personal Author Solanki, R. S.; Rattan, K. S.
Page Count 202
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. (KR)
Keywords
  • Kinematics
  • Manipulators
  • Robots
  • Computer graphics
  • Computerized simulation
  • Industries
  • Inversion
  • Methodology
  • Utah
Source Agency
  • Non Paid ADAS
NTIS Subject Category
  • 41C - Robotics/Robots
Corporate Authors Harry G. Armstrong Aerospace Medical Research Lab., Wright-Patterson AFB, OH.
Supplemental Notes Prepared in collaboration with Wright State Univ., Fairborn, OH.
Document Type Technical Report
Title Note Final rept. Apr 87-Sep 88,
NTIS Issue Number 198911
Kinematic Study of the Merlin 6500 Robot and the UTAH/MIT Dexterous Hand and a Simulation of Their Combined Behavior.
Kinematic Study of the Merlin 6500 Robot and the UTAH/MIT Dexterous Hand and a Simulation of Their Combined Behavior.
ADA203907

  • Kinematics
  • Manipulators
  • Robots
  • Computer graphics
  • Computerized simulation
  • Industries
  • Inversion
  • Methodology
  • Utah
  • Non Paid ADAS
  • 41C - Robotics/Robots
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