Abstract
Dynamic control of a three-fingered robot hand manipulating an object in three-dimensional space while allowing one of the three fingers to slide so that to change its grasp location on the object surface is formulated. The static and dynamic friction at the grasp point of the sliding finger on the object surface is considered explicitly and their effects to the finger and object behaviors are discussed. Motion equations of the whole system are derived and a dynamic control law for realizing the desired object motion as well as the desired finger sliding and the desired grasping force is proposed. The realizability of the given trajectories under the constraints of maximal static friction and dynamic friction at the grasp points, and of joint driving torque, are also discussed. A simulation example to demonstrate the use of the proposed control law is given. The results of this work will be useful for a multifingered robot hand in certain tasks to perform regrasping and reorientation of an object without breaking the grasping.
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