Principles of superposition for controlling pinch motions by means of robot fingers with soft tips

摘要: This paper analyzes the dynamics and control of pinch motions generated by a pair two multi-degrees-of-freedom robot fingers with soft deformable tips pinching rigid object. It is shown firstly that passivity analysis leads to an effective design feedback signal realizes dynamic stable (grasping), even if extra terms Lagrange's multipliers arise from holonomic constraints tight area-contacts between finger-tips surfaces object exert torques forces on dynamics. secondly principle superposition applicable additional signals for controlling both posture (rotational angle) position (some task coordinates mass center) provided number degrees freedom each finger specified satisfying condition stationary resolution controlled state variables. The details are presented in case special setup consisting freedom.