Abstract
For the coordinated control of multifingered robot hands it is important to simultaneously control both the position of a target object and the force exerted on it. In particular, the 'internal force' which does not affect the motion of the object should be controlled in order not to break it. This paper proposes an extension of the 'kinetostatic filtering method' by using a pseudo-inverse of the Jacobian. In addition, a new control signal is introduced for posture control of the fingertips. Experiments with a two-fingered hand are conducted to verify the capacity of the proposed controller and to show the transient response of it.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
