Dynamic Modeling and Control of a Multi-Fingered Robot Hand for Grasping Task

摘要

Multi-fingered robot hands have been one of the major research topics since holding an object and manipulating it, are crucial functionalities of several robotic systems, including service robots, industrial robots and wheel-type mobile robots. In this paper, we consider the problem of model-based control for a multi-fingered robot hand grasping an object with known geometrical characteristics. Two main topics are presented. Firstly, this paper attempts to derive a mathematical model of the dynamics of a designed multi-fingered robot hand with five fingers with twenty DOF (three for each finger, two for the thumb and six for the wrist) which grasps a rigid object. We exploit our methodology based on the Lagrange formulation, which is presented in previous work, to identify the parameters of dynamic models of hand-object system. These models are instrumental for the design problems of control for dynamic stable grasping that is discussed on second part. Finally, several simulation results demonstrate the controller performance based on the derived model.