Abstract
A dynamic manipulation/grasping controller of multifingered robot hands based on the dynamic control and the hybrid position/force control is proposed and discussed in this paper. This controller, using the concept of the manipulating and grasping forces proposed by the authors, consists of a compensator which linearizes the whole grasping system and a servo controller for the linearized system. The distinctive features of the proposed controller are: 1) The grasp parameter, which has the same number of elements as that of the essential dimension of the internal force, is used for the controlled variables of the grasping control. 2) It decomposes a total force required to apply the grasped object into the manipulating force for each finger. First, the kinematical constraint among the fingers and the dynamic equations of the fingers and the object are presented as basic equations. Second, the dynamic manipulation/grasping controller is proposed. Finally, simulation results are given to show the validity of the proposed controller.
