Dynamic manipulation/grasping control of multifingered robot hands

A dynamic manipulation/grasping controller of multifingered robot hands based on dynamic control and hybrid position/force control is proposed and discussed. This controller, using the concept of the manipulating and grasping forces proposed by the authors, consists of a compensator which linearizes the whole grasping system and a servo controller for the linearized system. The controller uses the grasp parameter, which has the same number of elements as that of the essential dimension of the internal force, as the controlled variable for grasping control. It decomposes the total force required to apply the grasped object into the manipulating force, which is a part of the fingertip force. The kinematical constraint among the fingers, and the motion equations of the fingers and the object, are presented as the basic equations. The dynamic manipulation/grasping controller is proposed. Simulation results are given