Preshape induced grasp controller for dextrous manipulation with a multifingered robot hand

摘要

In a dextrous manipulation, one of the major problems that remain to be solved is the determination of an appropriate preshape for grasping given the object, under a given manipulation and the task. In order to have a successful grasp execution, the system should have a successful grasp preparation at preshaping phase. Hence, the grasp preparation or preshaping is one of the critical issues for manipulation with a dextrous robot hand. Stability analyses are important for grasping with a robot hand .In our work, we design and implement an intelligent control system for precision grasping, virtual grasping with an anthropomorphic robot hand, beginning from hand preshaping, according to physical object, task and effects of contact wrench patterns, using grasp performance measures.