Abstract
Multifingered robots play an important role in manipulation applications. They can grasp various shaped objects to perform point-to-point movement. It is important to plan the motion path of the object and appropriately control the grasping forces for multifingered robot manipulation. In this paper, we perform the optimal grasping control to find both optimal motion path of the object and minimum grasping forces in the manipulation. The rigid body dynamics of the object and the grasping forces subjected to the second-order cone (SOC) constraints are considered in optimal control problem. The minimum principle is applied to obtain the system equalities and the SOC complementarity problems. The SOC complementarity problems are further recast as the equations with the Fischer-Burmeister (FB) function. Since the FB function is semismooth, the semismooth Newton method with the generalized Jacobian of FB function is used to solve the nonlinear equations. The 2D and 3D simulations of grasping manipulation are performed to demonstrate the effectiveness of the proposed approach.
Highlights
Multifingered robots have attracted much attention in robotics manipulation applications
The rigid body dynamics of the object and the grasping forces subjected to the second-order cone (SOC) constraints are considered in the grasping control problem
We have proposed an effective method for multifingered robot path planning and grasping forces computation
Summary
Multifingered robots have attracted much attention in robotics manipulation applications They can grasp various shaped objects and dexterously perform point-to-point manipulations. Many researches [1,2,3,4,5,6] have been proposed for grasping and manipulating objects with multifingered robots. It is important to appropriately control the grasping forces for multifingered robot manipulation. We perform the optimal grasping control to find both optimal manipulation path of the object and minimum grasping forces. The rigid body dynamics of the object and the grasping forces subjected to the second-order cone (SOC) constraints are considered in the grasping control problem. Simulations of optimal grasping manipulation are performed to demonstrate the effectiveness of the proposed approach.
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