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1 1998

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Stable quality grasp in control of dextrous robot hands.

Farsi M., Moon A.

Systems Science

1998

Vol. 24, nr 2

71-86

The paper addresses the development of the grasp functions to model a three fingers dextrous hand that can be incorporated into a control scheme for human like manipulations. The problems associated with quality of grasp is that of finding the right setpoint for normal forces if the object is unknown. The Grasp Quality Functions drive the forces down, while the Friction Limited Function drives the forces up.Therefore, for a multi-fingered grasp there is no one set of normal forces that provide a stable grasp. As well as being stable, the grasp must not use forces so high that damage is done to the object being held. The use of grasp quality measures helps prune the set of all pssible stable grasps. The balance of these effects forms the operating point. The functions appear to have similarity to fuzzy logic. With a suitable combination of functions a setpoint for a force controller can be found, additional techniques can extend the control scheme to dynamically respond to changes in the grasp.