Control algorithm for grasping and manipulation by multifingered robot hands using virtual truss model representation of internal force

A unified control algorithm for grasping and manipulation of rigid objects by multifingered robot hands with fixed, rolling and/or sliding point contacts is established. Control algorithms have been proposed in the past for the cases of fixed contacts, rolling contacts, or sliding contacts separately. However, force control part of these control algorithms was not given enough consideration with respect to making clear the essential force variables that can be arbitrarily controlled. Also the sliding contact case was formulated only for 2D work space. Adopting the virtual truss model characterization of the internal force, this paper formulates a dynamic control algorithm that has a clear feedback structure in a general 3D setting. Some examples of bases of internal force parameter vectors are also given that are useful for determining the desired internal force vector in the control algorithm