Kinematics of grasping and manipulation of a B-spline surface object by a multifingered robot hand

Kinematics of grasping and manipulation by a multifingered robotic hand where multifinger surfaces are in contact with an object is solved. The surface of the object was represented by B-spline surfaces to model objects of various shapes. The fingers were modeled by cylindrical links and a half ellipsoid fingertip. Geometric contact equations have been solved for all possible contact combinations between the finger surface and the object. The simulation system calculated joint displacements and contact locations for a given trajectory of the object. Since there are no closed form solutions for contact or intersection between these surfaces, kinematics of grasping was solved by recursive numerical calculation. The initial estimate of the contact point was obtained by approximating the B-spline surface by a polyhedron. As for the simulation of manipulation, exact contact locations were updated by solving the contact equations according to the given contact conditions such as pure rolling, twist-rolling, or slide-twist-rolling. Several examples of simulation of grasping and manipulation are presented. ©1999 John Wiley & Sons, Inc.

[1]  E. T. Y. Lee,et al.  Choosing nodes in parametric curve interpolation , 1989 .

[2]  David J. Montana,et al.  The Kinematics of Contact and Grasp , 1988, Int. J. Robotics Res..

[3]  Hiroaki Kobayashi.  Control and Geometrical Considerations for an Articulated Robot Hand , 1985 .

[4]  Tsuneo Yoshikawa,et al.  Manipulating and grasping forces in manipulation by multifingered robot hands , 1987, IEEE Trans. Robotics Autom..

[5]  Tom Lyche,et al.  Algorithms for degree-raising of splines , 1985, TOGS.

[6]  Jeffrey C. Trinkle,et al.  Planning for Dexterous Manipulation with Sliding Contacts , 1990, Int. J. Robotics Res..

[7]  David J. Montana.  The kinematics of multi-fingered manipulation , 1995, IEEE Trans. Robotics Autom..

[8]  Mark R. Cutkosky,et al.  On grasp choice, grasp models, and the design of hands for manufacturing tasks , 1989, IEEE Trans. Robotics Autom..

[9]  Vijay Kumar,et al.  Control of rolling contacts in multi-arm manipulation , 1994, IEEE Trans. Robotics Autom..

[10]  P. J. Hartley,et al.  Parametrization and shape of B-spline curves for CAD , 1980 .

[11]  Bernard Roth,et al.  Analysis of Multifingered Hands , 1986 .

[12]  Randy C. Brost,et al.  Automatic Grasp Planning in the Presence of Uncertainty , 1988, Int. J. Robotics Res..

[13]  Jeffrey C. Trinkle,et al.  An Investigation of Frictionless Enveloping Grasping in the Plane , 1988, Int. J. Robotics Res..

[14]  J. Kenneth Salisbury,et al.  Articulated Hands , 1982 .

[15]  Masaharu Takano,et al.  Analysis and simulation of grasping/manipulation by multi-fingersurface , 1997 .

[16]  L. Piegl,et al.  Curve and surface constructions using rational B-splines , 1987 .

[17]  Wayne Tiller,et al.  Rational B-Splines for Curve and Surface Representation , 1983, IEEE Computer Graphics and Applications.

[18]  David F. Rogers,et al.  Mathematical elements for computer graphics , 1976 .