Coordinated manipulation of objects by multifingered robotic hand in contact space and active joint space

摘要

Coordinated manipulation of objects by multifingered. robotic hands aims to resolve the redundancy in object level and hand level, increase the rigidity and robustness of grasping, and achieve a good dynamic performance in trajectory control. In the paper a contact space approach and an active joint space approach are explored. The model places the following problems associated with the coordinated manipulation with non-fixed contact into a unified framework: 1. sufficient conditions for the controllability of hand motion including both the velocity of contact coordinates and the object; 2. kinematic measure of robust grasp to generate the coordinated motion of contact coordinates; 3. searching a group of internal forces lying in the strict interior of the friction cone by a LMI method; 4. hybrid control algorithms for simultaneous control of motion of hand and the internal grasping forces; and 5. controlling the internal grasping force to ensure the total contact force lying in the friction cone. Experimental results done on HKUST hands are reported.