Parallel gripping explicit force control of robot hand with dual fingers

To further decrease the grasping damages of robot hand with two fingers, parallel gripping explicit force control strategy with dual fingers was proposed and analyzed while grasping deformable objects. It can quickly convert the gripping force error between the desired force and the actual one acquired form the sensors into the revised input command of position control system. Both two fingers can fast reach the desired gripping position with explicit force controller which supplied the necessary correction to original planned position, and it can reduce excessive overshoots of grasping force and position. Simulation results show that, it can independently adaptive regulate the gripping position and compensate required certain position correction according the deviation from the desired force and the actual one, with which makes the fingers fast track the real time revised trajectory and realize dynamic tracking control of gripping force. Parallel gripping explicit force control are together coordinated to reduce the grasping damages and supply more grasping compliance, so it has a wider range of industrial application prospect in automation grasping and assembly.