Robot Hand Grasping and Related Problems: Optimal Control and Identification

摘要

The optimal control problem related to the grasping of ob jects by multifingered grippers of robots is investigated. The Linear Complementarity Problem (LCP), which governs the static unilateral and frictional contact problem, is formulated, and certain propositions concerning necessary and sufficient conditions for its solution are proved. Next the optimal control problem is formulated and studied. Presented also is numeric application to illustrate the theory.