The purpose of this paper is to achieve stable grasping and dexterous in-hand manipulation, the control of the multi-fingered robotic hand is a difficult problem as the hand has many degrees of freedom with various grasp configurations.
To achieve this goal, a novel object-level impedance control framework with optimized grasp force and grasp quality is proposed for multi-fingered robotic hand grasping and in-hand manipulation. The minimal grasp force optimization aims to achieve stable grasping satisfying friction cone constraint while keeping appropriate contact forces without damage to the object. With the optimized grasp quality function, optimal grasp quality can be obtained by dynamically sliding on the object from initial grasp configuration to final grasp configuration. By the proposed controller, the in-hand manipulation of the grasped object can be achieved with compliance to the environment force. The control performance of the closed-loop robotic system is guaranteed by appropriately choosing the design parameters as proved by a Lyapunove function.
Simulations are conducted to validate the efficiency and performance of the proposed controller with a three-fingered robotic hand.
This paper presents a method for robotic optimal grasping and in-hand manipulation with a compliant controller. It may inspire other related researchers and has great potential for practical usage in a widespread of robot applications.
This work is supported by The National Key Research and Development Program of China (2017YFB1300200, 2017YFB1300203), the National Natural Science Foundation of China under Grant 61627808, the National Natural Science Foundation of China under Grant 91648205, the National Natural Science Foundation of China under Grant 91948303, and the development of science and technology of Guangdong province special fundproject Grants 2016B090910001.
Li, X., Chen, Z. and Ma, C. (2021), "Optimal grasp force for robotic grasping and in-hand manipulation with impedance control", Assembly Automation, Vol. 41 No. 2, pp. 208-220. https://doi.org/10.1108/AA-11-2020-0180
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