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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2512.02951 |
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| _version_ | 1866912743805681664 |
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| author | Baiata, Nicholas Chakraborty, Nilanjan |
| author_facet | Baiata, Nicholas Chakraborty, Nilanjan |
| contents | Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and applied forces rather than individual joint angles. While task-space planning and control have been extensively studied for larger, arm-scale manipulators, demonstrations of precise task-space trajectory tracking in compact, multi-DoF robotic fingers remain scarce. In this paper, we present the physical prototyping and experimental characterization of a three-degree-of-freedom, linkage-driven, series-parallel robotic finger with analytic forward kinematics and a closed-form Jacobian. A resolved motion rate control (RMRC) scheme is implemented to achieve closed-loop task-space trajectory tracking. We experimentally evaluate the fingertip tracking performance across a variety of trajectories, including straight lines, circles, and more complex curves, and report millimeter-level accuracy. To the best of our knowledge, this work provides one of the first systematic experimental demonstrations of precise task-space trajectory tracking in a linkage-driven robotic finger, thereby establishing a benchmark for future designs aimed at dexterous in-hand manipulation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_02951 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Experimental Characterization of Fingertip Trajectory following for a 3-DoF Series-Parallel Hybrid Robotic Finger Baiata, Nicholas Chakraborty, Nilanjan Robotics Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and applied forces rather than individual joint angles. While task-space planning and control have been extensively studied for larger, arm-scale manipulators, demonstrations of precise task-space trajectory tracking in compact, multi-DoF robotic fingers remain scarce. In this paper, we present the physical prototyping and experimental characterization of a three-degree-of-freedom, linkage-driven, series-parallel robotic finger with analytic forward kinematics and a closed-form Jacobian. A resolved motion rate control (RMRC) scheme is implemented to achieve closed-loop task-space trajectory tracking. We experimentally evaluate the fingertip tracking performance across a variety of trajectories, including straight lines, circles, and more complex curves, and report millimeter-level accuracy. To the best of our knowledge, this work provides one of the first systematic experimental demonstrations of precise task-space trajectory tracking in a linkage-driven robotic finger, thereby establishing a benchmark for future designs aimed at dexterous in-hand manipulation. |
| title | Experimental Characterization of Fingertip Trajectory following for a 3-DoF Series-Parallel Hybrid Robotic Finger |
| topic | Robotics |
| url | https://arxiv.org/abs/2512.02951 |