Control of grasp stiffness using a multifingered robot hand with redundant joints

摘要

Summary This paper addresses a method of satisfactorily controlling the grasp of objects. Emphasis is placed on achieving the desired stiffness of a grasped object as accurately as possible, especially when the fingers have redundant joints. A model describing the relation between stiffness and force is derived. Based upon this model, a hierarchical control scheme of the grasp stiffness, called decentralized object stiffness control ( DOSC ) is proposed. DOSC is composed of a fingertip stiffness synthesis ( FSS ) algorithm and orthogonal stiffness decomposition control ( OSDC ). Employing the proposed FSS always achieves the desired grasp stiffness by solving the constrained least square problem. The computed fingertip stiffness is achieved by OSDC . It offers a feasible way of controlling the fingertip stiffness as well as maintaining the stability of the finger configuration by modulating the joint stiffness. The developed control method is implemented on a two-fingered planar robot hand one finger of which has a redundant joint. The effectiveness of the control method is confirmed experimentally.