Computer simulation of controlled motion of dual fingers with soft tips grasping and manipulating an object

摘要: In the previous paper, dynamics of a set dual multi-joint fingers with soft, deformable tips grasping and manipulating rigid object were formulated by system nonlinear differential equations Euler-Lagrange's formalism. Although geometric constraints tight area contacts have been pointed out, they neglected purposely in motion order to avoid increasing complication arising design control laws analysis stability dynamics. On basis passivity, sensory feedback schemes for stably an soft-tip regulating object's posture explored proof asymptotic convergences controlled variables has presented theoretical without showing any simulation result. this first, we carry out numerical based on thorough overall and, secondly, find important role constraint forces from tigh...