Dynamic Stable Pinching by a Pair of Robot Fingers

摘要: Abstract This paper is concerned with a stability problem of pinching motion by pair robot fingers hemispherical ends maintaining grasp rigid object two parallel flat surfaces and at the same time regulating its orientation. It then shown that there exists sensory feedback from measurement finger joint angles rotational angle to control inputs actuators this connection sensing action realizes simultaneous orientation object, provided fingers-object system confined plane. To discuss grasping together in rigorous sense, new concept called “stability on manifold” intorduced convergence solution trajectory lower dimensional manifold subject prescribed force proved.