Flexible control of a grasping object with posture error

Proposes adjusting methods of a regrasping strategy according to position and posture errors of a grasping object. We have already derived a generation algorithm for the regrasping strategy by evolutionary programming. The regrasping strategy however becomes inapplicable when the relative position and posture between a hand and an object is not same as those in numerical simulation. We therefore propose some adjusting methods which can change the intermediate position and posture of a grasping object. This method can avoid the limitation of joint work area and fingertip´s slip so that it could extend the tolerable area of the position and posture error. We show its effectiveness for the regrasping motion with numerical simulations and experiments