Abstract
In this paper, for simultaneous control of grasp/manipulation and contact points by a two-fingered robot hand with the pure rolling contact, we provide an entire treatment of the system equations including motion and force constraint, which consist of the generalized coordinates and the contact coordinates. In contrast to most previous studies where specified degrees of freedom (DOF) of fingers are consiered we provide a general treatment of the system for any DOF of the fingers. Utilizing the results, a control design method which achieves the simultaneous control is proposed.
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