Control of Grasping/Manipulation of an Object and Contact Points with Rolling Contact by Two-Fingered Robot Hand

摘要

In this paper, we discuss grasping and manipulation of an object by two-fingered robot hand, each of which has six degrees of freedom. The contact motion between the object and each fingertip is assumed to be the pure rolling. In addition to the grasping and manipulation, we discuss the regulation of the contact points between the fingers and the object by using the nonholonomy of the rolling contact. First, we provide a general formulation of a linearizing compensator for the motion of the object, the internal force and some of the contact points. Second, we propose a control method which regulates all of the contact points by iterating a single closed path of the some of the contact points. Numerical examples are shown to prove the efficiency.