Modeling and Control of Multi-Body Mechanical Systems: Part II Grasping under Rolling Contacts between Arbitrary Shapes

Abstract

Modeling of 2-dimensional grasping and object manipulation under rolling contacts by a pair of multi-joint robot fingers with an arbitrary fingertip contour curve is discussed. Stabilization of grasping by using a control signal based on the fingers-thumb opposability is discussed from the analysis of a Morse-Bott function introduced as an artificial potential. An exentsion of modeling of 3-D grasping under rolling contact constraints is discussed under the circumstance of arbitrary shapes of the fingertips and object.