Publications

Mukherjee, S. & Waldron, K. 1992, 'An Exact Optimization Of Interaction Forces In 3-fingered Manipulation', Journal Of Mechanical Design, vol. 114, no. 1, pp. 48-54.
View/Download from: Publisher's site
View description>>

Manipulation with three fingers in frictional contact is known to be an underspecified problem. The minimum norm solution, also referred to as the equilibrating solution field, can be modified by superimposing a linear combination of the resulting null

Murthy, V. & Waldron, K. 1992, 'Position Kinematics Of The Generalized Lobster Arm And Its Series-parallel Dual', Journal Of Mechanical Design, vol. 114, no. 3, pp. 406-413.
View/Download from: Publisher's site
View description>>

The generalized lobster arm is a six revolute open kinematic chain with 3 consecutive intersecting pairs of axes. A new solution of the inverse position kinematics problem of this arm which takes advantage of its specific geometry is presented. A compari