Abstract
In this paper, we discuss the manipulation of an object under hybrid active/passive closure. The passive part of the system corresponds to the uncontrollable part. Therefore, to assure the stability of the controller, how to deal with the uncontrollable part is a key issue. We show the orthogonality between the active and passive parts in the previous paper. Based on the orthogonality, we decompose the dynamics of grasping system into the active part and the passive part. Then, using the decomposition, we derive a controller only including the dynamics of the active part. The controller assures to converge to the desired trajectories asymptotically. We also discuss how to determine the desired internal forces in order to satisfy frictional constraints during the manipulation. In order to verify the validity of our approach, some simulation results are shown.
