Abstract
Multifingered hands, or parallel manipulators, can be used to grasp and manipulate objects. Effective finger force computation is necessary for successful manipulation of an object by a multifingered robot hand. This paper presents an efficient computational procedure to obtain finger force of a three-fingered robot hand in object manipulation. We first define initial grasping force as the force to hold a massless object. Then grasping force and contact normal during manipulation are determined from initial grasping force and initial contact normal by tracking the object displacement. Manipulation force, the finger force required to manipulate an object and to compensate for object weight, is computed by the generalized matrix inverse method. Optimal internal force, when necessary, is determined from the grasping force during manipulation without explicitly solving the optimization problem. The computational burden to determine finger force in this paper is less than previous methods.
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