Encyclopedia of Systems and Control

Living Edition
| Editors: John Baillieul, Tariq Samad

Robot Grasp Control

Living reference work entry
DOI: https://doi.org/10.1007/978-1-4471-5102-9_171-1

Introduction

Grasp control refers to the art of controlling the motion of an object by constraining its dynamics through contacts with a hand. The process of controlling the grasp is not limited to robotic hands only but also applies to human hands (Johansson and Edin 1991) and to all other mechanisms using contact constraints to control the motion of the manipulated object (Brost and Goldberg 1996).

A crucial role in the control of grasping is played by contact constraints. All the interactions between the robotic hand and the grasped object occur at the contacts whose understanding is paramount (Salisbury and Roth 1983). The unilateral nature of contact interaction in grasping makes the control problems much more challenging than cooperative manipulation where multiple arms hold the object rigidly allowing bilateral force transmission at each contact point (Chiacchio et al. 1991).

The importance of unilateral contact constraints in grasping led a large part of the literature to focus...

Keywords

Contact Force Contact Point Parallel Robot Contact Constraint Friction Cone 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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Copyright information

© Springer-Verlag London 2014

Authors and Affiliations

  1. 1.University of SienaSienaItaly