Abstract
In this chapter, we study grasp planning and coordinated manipulation by a multifingered robot hand under various contact constraints. First, we formulate the hand kinematics and establish force/velocity transformation relations for a hand manipulation system. Then, we propose two quality measures for evaluating a grasp. These measures can be used to plan for good grasps. Finally, we derive a set of control laws for coordinated manipulation by a robot hand under either fixed points of contact or rolling contact. These control schemes all give decoupled error equations between the position loop and the internal grasp force loop.
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© 1990 Springer-Verlag New York Inc.
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Li, Z., Sastry, S. (1990). Issues in Dextrous Robot Hands. In: Venkataraman, S.T., Iberall, T. (eds) Dextrous Robot Hands. Springer, New York, NY. https://doi.org/10.1007/978-1-4613-8974-3_8
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DOI: https://doi.org/10.1007/978-1-4613-8974-3_8
Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4613-8976-7
Online ISBN: 978-1-4613-8974-3
eBook Packages: Springer Book Archive