Grasping and position control for multi-fingered robot hands with uncertain Jacobian matrices

Abstract

Most research on multifingered robot control has assumed that the Jacobian matrices from joint space to task space is exactly known. This implies that the locations of contact points, geometry of the object, kinematics of the multifingered robot hands must be exactly known. In this paper, a task-space feedback control problem of multifingered robot hands with uncertain Jacobian matrices is formulated and solved. The stability and robustness of the proposed controllers to the uncertainties in Jacobian matrices are analyzed.