Object Grasping with Multifingered Hand Using Variable Stiffness Compliance Control
نویسندگان
چکیده
In this paper, we propose a control system for object grasping tasks performed by the multifingered robot hand. Unlike previous systems, which were built using force control based on mechanical and dynamic analyses, this system is built using position control. The variable stiffness compliance control we propose is used as the grasp controller, and the system is able to perform all approach, contact and grasp on one control rule. This eradicates the need for the change in control rule, and makes the entire system simple and stable. Object grasping task is carried out using the proposed control system, and the validity of the method is verified.
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