Performance of pinching motions of two multi-DOF robotic fingers with soft-tips

This paper shows the performance of dynamic motion of dual multi-degree of freedom fingers with soft tips in fine manipulation of an object via computer simulation. A mathematical model of its dynamics is described as a system of ordinary differential equations expressing motions of the fingers-object setup together with algebraic constraints due to tight area contacts between the finger tips and surfaces of the object. A constraint stabilization method is used for solving numerically the differential algebraic system, and a design principle of superposition of feedback control signals is applied for controlling the pinching motion of the dual multi-degree of freedom fingers with soft tips. Furthermore, problems of dynamic stable grasping, controlling object rotational angle and regulating position of the mass center of the object, are considered simultaneously and their performances in a coordinated fine motion are illustrated by simulation results.