Kinematics and control of multifingered hands with rolling contact
- 1 April 1989
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 34 (4), 398-404
- https://doi.org/10.1109/9.28014
Abstract
The kinematics of rolling contact are derived for two surfaces of arbitrary shape rolling on each other. The kinematic equations are applied to a multifingered hand manipulating some object of arbitrary shape in three dimensions, and a scheme is presented for the control of such a hand which is a generalization of the computed torque method of control of robot manipulators. In implementing the control, it is required that all applied forces lie within the friction cone of the object so that sliding does not occur. The theory has been validated by dynamic graphical simulations of the resulting closed-loop system for several examples.Keywords
This publication has 3 references indexed in Scilit:
- Task-oriented optimal grasping by multifingered robot handsIEEE Journal on Robotics and Automation, 1988
- On the existence and synthesis of multifinger positive gripsAlgorithmica, 1987
- On the planar motion of rigid bodies with point contactMechanism and Machine Theory, 1986