Dynamics, Contact Motion and Control of Dual Arm Object Manipulation With Soft Rolling Fingertips

摘要: In this paper a detailed derivation is made of the kinematics and dynamics pair robotic fingers manipulating rectangular object with soft fingertips that are allowed to roll along surface. The whole system confined horizontal plane. Two contact motion models for area considered it shown they significantly affect mode type finger rolling constraints. A discussion on forces grasp analysis at object’s equilibrium made. Last, simple feedback control solutions have been proposed stabilizing grasping regulating posture presented.Copyright © 2002 by ASME