Closed-form Inverse kinematics Equations of a Robotic Finger Mechanism

Deriving the explicit form of direct and inverse kinematics equations is challenging in kinematics analysis of serial manipulators. In explicit forms the exact solutions of the inverse problem may be obtained with the required accuracy. Furthermore, in the controller topologies where inverse kinematics is needed, it is much preferable to have the explicit form, because of its easier real time implementation. The biomimic robotic hands has a complex structures, consisting of a number of cooperating serial kinematic chain. In this paper, a method for obtaining the explicit form of the inverse kinematics equations of a major group of robotic finger structures is proposed by using spatial analysis. By this means, the inverse kinematic of this class of mechanisms is derived in explicit form. To investigate the effectiveness of the proposed method an open-source model of such mechanisms named InMoov is used, and the accuracy and integrity of the proposed formulation is verified.