Stiffness Control of an Object Grasped by a Multifingered Hand
When a robotic manipulator is required to carry out tasks during which the manipulated object will receive constraint forces from the environment, adjusting the stiffness condition of the object grasped or the end effector is necessary. To achieve this function, several stiffness control laws or special accommodation devices like remote center compliance(RCC) have been developed. In robotic arms with a simple gripper, the stiffness control is done by adjusting the joint displacements according to the external forces applied to the grasped object or the end effector, and vice versa. However, when a hand with fingers which have several joints actively controlled is used for the end effector, the object stiffness control can be done by controlling the finger joints cooperatively. This paper describes this issue and propose an object stiffness control method for multifingered hands.
KeywordsFinger Joint Stiffness Condition Propose Control Method Fingertip Force Object Trajectory
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