The Study Of Coordinated Manipulation Of Robots Considering Contact Movement

In this paper, we take a different approach to establish the kinematics and dynamic model of the multi-fingered grasp system. In this investigation, fingertips are considered as soft finger and the object as a rigid body. The contact between the object and each fingertip is modeled as any contact moving type with friction. This implies that the points of contact on the object and the points on the fingertip are not fixed when the object is moving. However, joint angle limitations, geometric interferences or insufficient actuator torque may cause some contacts to slip. Given the moving state of the grasped object in the base coordinate system, we derived the kinematic and dynamic equations of the system. Finally the comparison between hard point and pwe rolling contact is made via simulation example. The effectiveness of the proposed model is verified and the results are satisfying. The model can provide a basis for manipulation planning of multifingered robot anm...