Robotic hands: modelisation, control and grasping strategies

Abstract

. Multifingered robot hands can be used for applying fine motions. Unlike pick-andplace manipulations, Fine Motions Strategies generate movements based on sensor information to overcome mechanical and sensory uncertainties(Laugier, 1989; Magnussen and Doersam, 1995; Munoz et al., 1995). Performing assembly operations with a dexterous hand, high level strategies for planning a manipulation task have to be implemented. Pre-grasping operations depend highly on a good position/velocity control. The control strategies for position and velocity which are used for the Dexterous Hand of LIFIA/INRIA and the Karlsruhe Dexterous Hand will be introduced. Force control is needed for a stable and secure grasp and for dextrous manipulation. Once the required forces are available, force control strategies could be applied for grasping and manipulating the object. The motivation of this work is to analyse and compare different control strategies applied to these hands to create an strong low-level fram...