Given a grasping system composed by a robotic hand and a grasped object, the aim of grasp control is to make the object follow a certain desired trajectory while preserving the contact. In this essay, after a concise explanation of the mathematical model of a grasping system, with a particular focus on the contact constraints, a computed-torque controller that guarantees trajectory tracking and grasp maintenance is described. Last sections contain suggestions for further reading and information about open research challenges in the field of grasp control.
Prattichizzo, D., Pozzi, M. (2020). Robot Grasp Control. In Encyclopedia of Systems and Control (pp. 1-8) [10.1007/978-1-4471-5102-9_171-2].
Robot Grasp Control
D. PRATTICHIZZO;M. POZZI
2020-01-01
Abstract
Given a grasping system composed by a robotic hand and a grasped object, the aim of grasp control is to make the object follow a certain desired trajectory while preserving the contact. In this essay, after a concise explanation of the mathematical model of a grasping system, with a particular focus on the contact constraints, a computed-torque controller that guarantees trajectory tracking and grasp maintenance is described. Last sections contain suggestions for further reading and information about open research challenges in the field of grasp control.
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https://hdl.handle.net/11365/1115514