An Investigation Of Dextrous Manipulation Planning Using C-functions And Stability Functions

The purpose of this paper is 40 investigate quasi-static dextrous manlpulatlon using Cfunctions and stability functions and motion mode functions.In particular we consider the planning problem where we start with an object in an initia! grasp configuration and attempt to find a joint trajectory to manipulate the object to a desired configuration. A central theme in this paper is the presumed lack of knowledge of the coefficient of friction.For a given j o i n t trajectory we show how to establish upper bounds for the coefficient of friction below which the motioy is qualitatively the same as in frictionless motion. We also show how to obtain upper bounds.on the control error from a nominal joint trajectory deviation of control inputs from the nominal value below which the motion is qualitatively the same. Contact forces and joint torques for proper manipulation are also c o m p u t e d .