Dual relationship and dextrous sliding manipulation under force and position controls

摘要

In this paper, we investigate dextrous sliding manipulation, underboth force and position controls, using soft fingers. We study themotion trajectory of sliding manipulation under force control as wellas the force/moment trajectory on the limit surface under positioncontrol. It is found that the characteristic pitch, λ(defined as theratio between the maximum moment and the maximum friction force of asoft finger)andζ(the ratio between characteristic dimension and thecharacteristic pitch)characterize sliding manipulation.