International Journal of Robotics Research
International Journal of Robotics Research
Robot grasp synthesis algorithms: a survey
International Journal of Robotics Research
Robotic Grasping and Fine Manipulation
Robotic Grasping and Fine Manipulation
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Grasping control of 3-joint dual finger robot: Lyapunov stability approach
ACC'09 Proceedings of the 2009 conference on American Control Conference
Modeling and control of a pair of robot fingers with saddle joint under orderless actuations
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
The hand of the DLR Hand Arm System: Designed for interaction
International Journal of Robotics Research
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This paper is concerned with a stability theory of motion governed by Lagrange's equation for a pair of multi-degrees of freedom robot fingers with hemi-spherical finger ends grasping a rigid object under rolling contact constraints. When a pair of dual two d.o.f. fingers is used and motion of the overall fingers-object system is confined to a plane, it is shown that the total degree of freedom of the fingers-object system is redundant for realization of stable grasping though there arise four algebraic constraints. To resolve the redundancy problem without introducing any other extra and artificial performance index, a concept of stability of motion starting from a higher dimensional manifold to a lower-dimensional manifold, expressing a set of states of stable grasp with prescribed contact force, is introduced and thereby it is proved in a rigorous way that stable grasp in a dynamic sense is realized by a sensory feedback constructed by means of measurement data of finger joint angles and the rotational angle of the object. Further, it is shown that there exists an additional sensory feedback that realizes not only stable grasp but also orientation control of the object concurrently. Results of computer simulation based on Baumgarte's method are presented, which show the effectiveness of the proposed concept and analysis.