Force Control of Multiple Robotic Mechanisms

This paper presents a model of multiple robotic mechanisms (compliant mechanical fingers) in contact with an object and a method for controlling the contact forces. In the model, springs and dampers (compliant properties) are connected in parallel between the end-points of the mechanisms and the object. Using this model a centralized contact force controller is proposed. This controller is based on the optimal control approach where in addition to optimality, the closed-loop poles of the system are placed at specific locations. The performance of the controller is demonstrated using two ID-OF fingers grasping an object.