Multi-fingered manipulation with HIT/DLR hand

A new approach to construct the position/orientation mapping between finger joints and a manipulated object during the grasping of an HIT/DLR hand is presented and the complete kinematic equations of the hand are given with plane grasping manipulation. A hierarchical structure is adopted to simplify the resolution of the kinematics and is helpful in preventing kinematic computation from big matrices, such as the grasping matrix and the hand Jacobian matrix. Finally, a grasping manipulation with an HIT/DLR hand was carried out and the experimental results proved that the new kinematic algorithm could satisfy the position control requirement of grasping manipulation.