Abstract
A method for high precision constrained object manoeuvering for non-redundant rigid multifinger hands is proposed. A passivity-based adaptive cooperative control scheme carries out compensation of all uncertain inertial and dynamic friction forces to guarantee asymptotic tracking of all contact forces and joint position-orientation trajectories over orthogonal force- and position-based impedance error manifolds. Optimal internal and external force trajectories are obtained to minimize the contact forces onto the constrained object while exerting a given desired contact force onto the environment. The simulation study of two robot fingers manipulating a constrained object for combined fast and slow velocity regimes shows that when the dynamic friction compensation is turned on tracking errors decrease tenfold.
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Parra-Vega, V., Rodríguez-Angeles, A., Arimoto, S. et al. High Precision Constrained Gras** with Cooperative Adaptive Handcontrol. Journal of Intelligent and Robotic Systems 32, 235–254 (2001). https://doi.org/10.1023/A:1013987209547
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DOI: https://doi.org/10.1023/A:1013987209547