Simultaneous Control of Grasp/Manipulation and Contact Points with Rolling Contact
| Authors: | Nakashima Akira, Nagoya University, Japan
Nagase Kenji, Nagoya University, Japan
Hayakawa Yoshikazu, Nagoya University, Japan |
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| Topic: | 4.3 Robotics |
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| Session: | Robot Control I |
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| Keywords: | multi-fingered robot hand, grasp, manipulation, tracking, nonholonomy of rolling |
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Abstract
In this paper, for simultaneous control of grasp/manipulation and contact pointsby a two-fingered robot hand with the pure rolling contact,we provide an entire treatment of the system equations including motion and force constraint, which consist of the generalized coordinates and the contact coordinates.In contrast to the most previous studies which consider specified degrees of freedom (DOF) of fingers,we provide a general treatment of the system for any DOF of the fingers.Utilizing the results, a control design method which achieves the simultaneous control is proposed.
