Control experiments in planar manipulation and grasping

Abstract

Many algorithms have been proposed in the literature for control of multifingered robot hands. The authors compare the performance of several of these algorithms, as well as some extensions of more conventional manipulator control laws, in the case of planar grasping. Based on experiments performed on Styx, the most effective control laws are found to be the simple joint control law and the generalized computed torque law. The computed torque control law is shown to be an attractive alternative for position control of multifingered hands.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>