Stable Grasping and Posture Control for a Pair of Robot Fingers with Soft Tips

摘要

This paper derives and analyzes non-linear dynamics of grasping a rigid object by a pair of robot fingers (1 D.O.F. and 2 D.O.F.) with soft and deformable tips. A method of synthesizing a feedback control signal for stable grasping and posture control of the object is presented, which is based on passivity analysis of the dynamics including extra terms of Lagrange's multipliers arising from holonomic constraints of tight area contacts between soft finger-tips and surfaces of the object. Results of computer simulation based on the derived non-linear differencial equations with geometric constraints are presented. Finally, usefulness of the proposed control method is discussed from the practical viewpoint.