%0 Journal Article
%T Inverse Kinematics
%A Joel Sereno
%J Undergraduate Journal of Mathematical Modeling : One + Two
%D 2010
%I University of South Florida
%R 10.5038/2326-3652.3.1.18
%X Inverse kinematics is the process of converting a Cartesian point in space into a set of joint angles to more efficiently move the end effector of a robot to a desired orientation. This project investigates the inverse kinematics of a robotic hand with fingers under various scenarios. Assuming the parameters of a provided robot, a general equation for the end effector point was calculated and used to plot the region of space that it can reach. Further, the benefits obtained from the addition of a prismatic joint versus an extra variable angle joint were considered. The results confirmed that having more movable parts, such as prismatic points and changing angles, increases the effective reach of a robotic hand.
%K Kinematics
%K Robotics
%K Optimization of Robotic Movement
%U http://scholarcommons.usf.edu/ujmm/vol3/iss1/18