An Integrated Control Strategy for Multifingered Systems

[+] Author and Article Information
Wen-Yeuan Chung

Department of Mechanical Engineering, Chinese Culture University, Taipei, Taiwan

Kenneth J. Waldron

Department of Mechanical Engineering, The Ohio State University, Columbus, OH 43210-1041

J. Dyn. Sys., Meas., Control 117(1), 37-42 (Mar 01, 1995) (6 pages) doi:10.1115/1.2798521 History: Received March 01, 1993; Revised January 01, 1994; Online December 03, 2007


A method of force allocation by optimizing the friction angles at finger contacts was combined with the computed torque method to find the torques to be commanded at finger joints for multifingered systems. In this way, slip can be avoided when the object is grasped or manipulated. The proposed method can be used to efficiently find the input torques, and is applicable for real-time computation. A history-based method is also proposed to improve the smoothness of the input torque commands. Three-dimensional simulation results are given.

Copyright © 1995 by The American Society of Mechanical Engineers
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