Optimal Control ofRobotic Graspmg

Acontrol technique forthecontrol ofcontact forces betweenthelinks ofamultiple-chain robot system (such asarobot hand) andanobjet ispresented. Thegoal ofthecontrol method istooptimize contact foreso astomnimise acost function, correspoding to nimization ofaweighted sumoffactors suchasenergy consumption andsensitivity toforce disturbances. A globally stable algorithm isprovided, thatasymptotically converges totheoptimum.