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Coordinated motion generation and real-time grasping force control for multifingered manipulation

Authors Li, ZX
Qin, Z
Jiang, S
Han, L
Issue Date 1998
Source IEEE International Conference on Robotics & Automation (ICRA) , 1998, p. 3631-3638
Summary In this paper, we propose a unified Control System Architecture for Multifingered Manipulation (CoSAM(2)). CoSAM(2) achieves simultaneously three objectives of multifingered manipulation: (a) Motion trajectory (velocity/force) tracking of a grasped object; (b) Improving the grasp configuration in the course of object manipulation; and (c) Optimizing grasping forces to enforce contact constraint and compensate for external object wrenches. CoSAM(2) is organized in a modular and hierarchic structure so that each module implements a specified function using inputs from its predecessors and a minimum number of sensory data signals. CoSAM(2) is also flexible in accommodating addition of new modules. Here, we give the details for the Coordinated Motion Generation module and the Grasping Force Generation Module.
ISSN 1050-4729
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Language English
Format Conference paper
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