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Control of grasp stiffness using a multifingered robot hand with redundant joints

Published online by Cambridge University Press:  09 March 2009

H. R. Choi ,
W. K. Chung  and
Y. Youm
H. R. Choi
Affiliation:
School of Mechanical Engineering, Pohang University of Science and Technology (POSTECH), San 31 Hyoja Dong, Pohang 790–784 (Korea)
W. K. Chung
Affiliation:
School of Mechanical Engineering, Pohang University of Science and Technology (POSTECH), San 31 Hyoja Dong, Pohang 790–784 (Korea)
Y. Youm
Affiliation:
School of Mechanical Engineering, Pohang University of Science and Technology (POSTECH), San 31 Hyoja Dong, Pohang 790–784 (Korea)
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Summary

This paper addresses a method of satisfactorily controlling the grasp of objects. Emphasis is placed on achieving the desired stiffness of a grasped object as accurately as possible, especially when the fingers have redundant joints. A model describing the relation between stiffness and force is derived. Based upon this model, a hierarchical control scheme of the grasp stiffness, called decentralized object stiffness control (DOSC) is proposed. DOSC is composed of a fingertip stiffness synthesis (FSS) algorithm and orthogonal stiffness decomposition control (OSDC). Employing the proposed FSS always achieves the desired grasp stiffness by solving the constrained least square problem. The computed fingertip stiffness is achieved by OSDC. It offers a feasible way of controlling the fingertip stiffness as well as maintaining the stability of the finger configuration by modulating the joint stiffness. The developed control method is implemented on a two-fingered planar robot hand one finger of which has a redundant joint. The effectiveness of the control method is confirmed experimentally.

Keywords

Stable graspObject stiffness controlRedundant jointTwo-fingered robot hand
Type
Articles
Information
Robotica , Volume 13 , Issue 4 , July 1995 , pp. 351 - 362
Copyright
Copyright © Cambridge University Press 1995

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