SIMULTANEOUS CONTROL OF GRASP/MANIPULATION AND CONTACT POINTS WITH ROLLING CONTACT

Abstract In this paper, for simultaneous control of grasp/manipulation and contact points by a two-fingered robot hand with the pure rolling contact, we provide an entire treatment of the system equations including motion and force constraint, which consist of the generalized coordinates and the contact coordinates. In contrast to most previous studies where specified degrees of freedom (DOF) of fingers are consiered we provide a general treatment of the system for any DOF of the fingers. Utilizing the results, a control design method which achieves the simultaneous control is proposed.

[1]  Zexiang Li,et al.  Motion of two rigid bodies with rolling constraint , 1990, IEEE Trans. Robotics Autom..

[2]  Vijay Kumar,et al.  Dynamic control of 3-D rolling contacts in two-arm manipulation , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

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

[4]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[5]  R. Tennant.  Algebra , 1941, Nature.

[6]  Antonio Bicchi,et al.  Dexterous Grippers: Putting Nonholonomy to Work for Fine Manipulation , 2002, Int. J. Robotics Res..

[7]  S. Shankar Sastry,et al.  Kinematics and control of multifingered hands with rolling contact , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[8]  Antonio Bicchi,et al.  Rolling bodies with regular surface: controllability theory and applications , 2000, IEEE Trans. Autom. Control..

[9]  S. Shankar Sastry,et al.  Grasping and manipulation using multi ngered robot hands , 1990 .