Abstract
This paper treats two fundamental problems which occur when manipulating objects with an articulated multifingered robot hand: determination of the joint motions to perform the manipulation according to a given object trajectory and optimization of the joint torques needed to ensure a secure gripping situation. The consideration of rolling and slipping of the fingertip on the object leads to a set of linear differential equations when computing the joint angles and to a partly non-linear optimization problem for the torques. The presented removal of redundant information will decrease computation time significantly. A possible implementation of the developped equations will be given as well as an example demonstrating the need to consider rolling and slipping: rotation of an ordinary egg with the Karlsruhe Dextrous Hand.
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