Abstract
Dexterous manipualtion of rigid objects involves two main objectives. The first one is to apply to the grasped object proper force/torque wrenches in order to perform an assigned motion, the second is to plan suitable contact forces that guarantee the satisfaction of both the motion specification and the physical constraints characteristics of a given grasp. In order to deal with this control problem, a formalism suitable for representing the space of the contact forces, allowing a grasped object to perform an assigned motion, is presented. Moreover a particular emphasis to the advantages that can be gained, using such a formalism is given whenever "robust grasping" planning problems are dealt with. The paper also shows that "manipulation dexterity" in performing grasping actions can be attained in cases where possible repetitions of the planned task are somehow allowed. This is done on the basis of some results concerning the so called "Iterative Learning Hybrid Control Theory". extended toward robotic manipulation problems.
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