Abstract
A generalized algorithm for the motion/force planning of the multifingered hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding contacts as well as rolling contacts between the fingertips and the object at the contact point. Specifically, an optimization problem is firstly formulated and solved to find joint velocities and contact forces to impart a desired motion to the object at each time step. Then the relative velocity at the contact point is found by calculating velocity of the fingertip and the velocity of the object at the contact point. Finally, time derivatives of the surface variables and the contact angle of the fingertip and the object at the present time step are computed using the Montana’s contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand manipulating a circular cylinder with three fingers each of which has four joints.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
Abbreviations
- A β,α :
-
The rotation matrix of a coordinate frame {C β } with respect to a coordinate frame {C α }
- C b :
-
Body coordinate frame
- C bi :
-
The local frame of object at thei-th contact point
- C fi :
-
The finger frame fixed to the last link of the finger
- C li :
-
The local frame of the finger at thei-th contact point
- C p :
-
Reference frame
- F :
-
Contact force
- G :
-
Grasp matrix
- J :
-
Jacobian
- K :
-
Curvature form
- M :
-
Metric
- m :
-
The number of joints
- p :
-
The position vector of contact point
- q :
-
Jont variable
- \(\dot q\) :
-
Joint velocity
- \(\ddot q\) :
-
Joint acceleration
- R sr :
-
Slide/Roll ratio
- R ψ :
-
The orientation matrix of the χ-andy-axes ofC li with respect to the χ-andy-axes ofC fi
- r β,α :
-
The position vector of a coordinate frame {C β } with respect to a coordinate frame {C α }
- \(\tilde T\) :
-
Resultant force and moment
- T :
-
Torsion form
- u :
-
Surface variable
- U x ,U y ,U z :
-
Translational relative velocity
- δ:
-
Slide/Roll mode parameter
- μ:
-
Friction coefficient
- ψ:
-
Contact angle
- ω x , ω y , ω z :
-
Rotational relative velocity
References
Brock, D.L., 1988, “Enhancing the Dexterity of a Robot Hand using Controlled Slip,” IEEE Int. Conf. on Robotics and Automation, pp. 249–251.
Cai, C. and Roth, B., 1987, “On the Spatial Motion of a Rigid Body with Point Contact,” IEEE. Int. Conf. on Robotics and Automation, pp. 686–694.
Cole, A.A., Hauser J. and Sastry, S. 1988, “Kinematics and Control of Multifingered Hands with Rolling Contact,” IEEE Int. Conf. on Robotics and Automation, pp. 228–233.
Cole, A.A., Hsu, P. and Sastry, S. 1989, “Dynamic Regrasping by Coordinated Control of Sliding for a Multifingered Hands,” IEEE Int. Conf. on Robotics and Automation, pp. 228–233.
Fearing, R.S., 1986, “Implementing a Force Strategy for Object Re-Orientation,” IEEE Int. Conf. on Robotics and Automation, pp. 96–102.
Kerr, J.R., 1985,An Analysis of Multi-Fingered Hands, Ph.D. Dissertation, Mechanical Engineering, Stanford University.
Li, Z., Hsu, P. and Sastry, S., 1989, “Grasping and Coordinated Manipulation by a Multifingered Robot Hand,” The Int. Journal of Robotics Research, Vol. 8, No. 4, pp. 33–50.
Montana D.J., 1988, “The Kinematics of Contact and Grasp,” The Int. Journal of Robotics Research, Vol. 7, No. 3, pp. 17–32.
O’Neill, B., 1966,Elementary Differential Geometry, Academic Press.
Vanderplaats, G.N., 1984,Numerical Optimization Techniques for Engineering Design with Applications, McGraw-Hill Book Company.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Chong, N.Y., Choi, D. & Suh, H.H. A quasistatic manipulation for multifingered robotic hands. KSME Journal 7, 231–241 (1993). https://doi.org/10.1007/BF02970968
Received:
Issue Date:
DOI: https://doi.org/10.1007/BF02970968