Kinematics and Dynamics of 5-Finger Dexterous Hand
Guangzheng Peng · Transactions of Beijing Institute of Technology · 2008
Analysis of kinematics and dynamics of a dexterous hand are implemented and simulated on Matlab.Kinematic model of the dexterous hand is established and solved.The inverse dynamics of the dexterous hand is analyzed based on the Newton-Euler method and its results are achieved.Based on the dynamics of the dexterous hand and the static model of PMAs,the system implements its master-slave control.It showed grasping of objects by the dexterous hand.