جابجايي اجسام ظريف دوبعدي بوسيله يك پنجه با دو انگشت سه بندي

Safe Grasping and Manipulation of Delicate Object by a Two Fingers Dexterous Hand

Abstract: Safe grasping and handling delicate object with fingertips need a sophisticated control algorithm capable of position and force control in one direction. Most of position-force control algorithms proposed so far divide the work space of manipulators into two subspace and control position in one subspace and force in the other one. Meanwhile, for safe grasping purpose we should apply force at minimum necessary level which itself is not a known quantity during motion, so the desired value of normal force is not known forehand. This paper propose a new position- force algorithm and employ that to accomplish pinching and moving delicate object with two multi- link fingers. Performance issues and parameters robustness with respect to friction coefficient is also addressed. Several numerical examples are provided to show versatility of the proposed method. Keywords: Safe Grasping, Multi-phase Friction, Dexterous Hand, Fine Manipulation and Controller.