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Robot Grasp Control

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Encyclopedia of Systems and Control

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Abstract

Given a grasping system composed by a robotic hand and a grasped object, the aim of grasp control is to make the object follow a certain desired trajectory while preserving the contact. In this essay, after a concise explanation of the mathematical model of a grasping system, with a particular focus on the contact constraints, a computed-torque controller that guarantees trajectory tracking and grasp maintenance is described. Last sections contain suggestions for further reading and information about open research challenges in the field of grasp control.

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Notes

  1. 1.

    http://sirslab.dii.unisi.it/GraspingCourse/index.html

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Author information

Authors and Affiliations

  1. Department of Information Engineering and Mathematics, University of Siena, Siena, Italy

    Domenico Prattichizzo & Maria Pozzi

  2. Advanced Robotics Department, Istituto Italiano di Tecnologia, Genova, Italy

    Domenico Prattichizzo & Maria Pozzi

Authors
  1. Domenico Prattichizzo
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  2. Maria Pozzi
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Corresponding author

Correspondence to Domenico Prattichizzo .

Editor information

Editors and Affiliations

  1. Electrical and Computer Engineering, Boston University, Boston, MA, USA

    John Baillieul

  2. Automation and Control Solutions, Honeywell, Golden Valley, MN, USA

    Tariq Samad

Section Editor information

  1. Dipartimento di Ingegneria Elettrica e Tecnologie dell'Informazione, Università degli Studi di Napoli Federico II, Napoli, Italy

    Bruno Siciliano PhD

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Prattichizzo, D., Pozzi, M. (2020). Robot Grasp Control. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_171-2

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  • DOI: https://doi.org/10.1007/978-1-4471-5102-9_171-2

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-5102-9

  • Online ISBN: 978-1-4471-5102-9

  • eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering

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Chapter history

  1. Latest

    Robot Grasp Control
    Published:
    18 April 2020

    DOI: https://doi.org/10.1007/978-1-4471-5102-9_171-2

  2. Original

    Robot Grasp Control
    Published:
    28 November 2014

    DOI: https://doi.org/10.1007/978-1-4471-5102-9_171-1

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