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 impl...