Formalization of the inverse kinematics of three-fingered dexterous hand

DOI10.1016/J.JLAMP.2023.100861MaRDI QIDQ6156933zbMATH OpenFDO

Authors Guohui Wang, Shanyan Chen, Yong Guan, Zhiping Shi, Ximeng Li, Jingzhi Zhang

Publication date 19 June 2023

Published in Journal of Logical and Algebraic Methods in Programming (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.JLAMP.2023.100861

zbMATH Keywords

cyber-physical systemformal verificationmathematical theorem prooferPaden-Kahan subproblemscrew theorythree-fingered hand

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cites work

• Edinburgh LCF. A mechanized logic of computation
• Formal verification of robotic cell injection systems up to 4-DOF using \textsf{HOL Light}
• HOL Light: An Overview
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• Investigation on Kane dynamic equations based on screw theory for open-chain manipulators
• The HOL Light theory of Euclidean space

Cited in

(3)

• Formal analysis of the kinematic Jacobian in screw theory
• scientific article; zbMATH DE number 1081080 (Why is no real title available?)
• A framework for formal verification of robot kinematics

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