Coordinated motion generation and real-time grasping force control for multifingered manipulation

In this paper, we propose a unified control system architecture for multifingered manipulation (CoSAM/sup 2/). CoSAM/sup 2/ achieves simultaneously three objectives of multifingered manipulation: (a) Motion trajectory (velocity/force) tracking of a grasped object; (b) Improving the grasp configuration in the course of object manipulation; and (c) Optimizing grasping forces to enforce contact constraint and compensate for external object wrenches. CoSAM/sup 2/ is organized in a modular and hierarchic structure so that each module implements a specified function using inputs from its predecessors and a minimum number of sensory data signals. CoSAM/sup 2/ is also flexible in accommodating addition of new modules. Here, we give the details for the coordinated motion generation module and the grasping force generation module.

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

[2]  Imin Kao,et al.  Grasping as a contact sport , 1988 .

[3]  Tsuneo Yoshikawa,et al.  Mechanics of coordinative manipulation by multiple robotic mechanisms , 1986, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

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

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

[6]  S. Shankar Sastry,et al.  Kinematics and control of multifingered hands with rolling contact , 1989 .

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

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

[9]  Gerardo Lafferriere,et al.  Fine manipulation with multifinger hands , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[10]  S. Shankar Sastry,et al.  On grasping and coordinated manipulation by a multifingered robot hand , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[11]  Hideki Hashimoto,et al.  Dextrous hand grasping force optimization , 1996, IEEE Trans. Robotics Autom..

[12]  S. Shankar Sastry,et al.  Grasping and Coordinated Manipulation by a Multifingered Robot Hand , 1989, Int. J. Robotics Res..

[13]  John B. Moore,et al.  Recursive algorithms for real-time grasping force optimization , 1997, Proceedings of International Conference on Robotics and Automation.

[14]  Ronald S. Fearing,et al.  Tactile sensing for shape interpretation , 1990 .

[15]  Peter K. Allen,et al.  Using tactile and visual sensing with a robotic hand , 1997, Proceedings of International Conference on Robotics and Automation.

[16]  David J. Montana,et al.  The condition for contact grasp stability , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[17]  ROGER D. QUINN,et al.  An agile manufacturing workcell design , 1997 .

[18]  Joel W. Burdick,et al.  On force and form closure for multiple finger grasps , 1996, Proceedings of IEEE International Conference on Robotics and Automation.