抄録
In this paper, we discuss grasping and manipulation of an object by two-fingered robot hand, each of which has six degree of freedom. The contact motion between the object and each fingertips is assumed to be the pure rolling. First, we provide a general formulation of a linearizing compensator for the motion of the object, the grasping force and some of the contact points. Second, we propose a control method which regulates of all contact points by utilizing a closed path of the controlled contact points. Numerical examples are shown to prove the efficiency.
