Robotic Hands : Modelisation, Control and Grasping Strategies
نویسندگان
چکیده
Multiingered robot hands can be used for applying ne motions. Unlike pick-and-place manipulations, Fine Motions Strategies generate movements based on sensor information to overcome mechanical and sensory uncertainties(Laugier, 1989; Magnussen and Doersam, 1995; Munoz et al., 1995). Performing assembly operations with a dexterous hand, high level strategies for planning a manipulation task have to be implemented. Pre-grasping operations depend highly on a good position/velocity control. The control strategies for position and velocity which are used for the Dexterous Hand of LIFIA/INRIA and the Karlsruhe Dexterous Hand will be introduced. Force control is needed for a stable and secure grasp and for dextrous manipulation. Once the required forces are available, force control strategies could be applied for grasping and manipulating the object. The motivation of this work is to analyse and compare diierent control strategies applied to these hands to create an strong low-level framework for testing planning strategies in these two diierent systems. This is the rst part of the work which has to be performed by both institutes, the LIFIA/INRIA and the IPR, for their grippers
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