Abstract
A novel strategy of online force distribution for multi-finger robot hand is developed based on impedance control. The real-time controller system including the finger dynamics and multi-fingers constraints is considered as a nonlinear system. Because when the robot hand grasps the object, the fingertip force is usually changed which could cause the grasp unstable. Our method gains the ability to deal with online grasping force distribution and can satisfy the real-time requirements at the same time. Experiment shows that our method provides the most feasible grasp configurations in real-time performance.
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.
