Control of Multifinger Manipulation: Theoretical and Experimental Studies Using a Planar Manipulator (Classic Reprint) - Softcover

J. Demmel

Softcover

ISBN 10: 1332116590 ISBN 13: 9781332116591

Publisher: Forgotten Books, 2022

Synopsis

Dexterous grip control with a four-finger planar manipulator

This书 explains how to control multiple fingers to manipulate a grasped object with precision, using a plan that keeps forces balanced and slips avoided.

This work introduces a closed-loop approach where the object is treated as a virtual finger, allowing finger positions and forces to be computed from a task’s target object motion and interaction forces. It describes phases for planning targets, computing finger commands from a mechanical model, and real-time adjustments to keep the task on track. The study centers on a simple yet versatile planar system called the NYU Four Finger Manipulator, with four independently controlled fingers, force sensors, and position encoders to support force/position control in experiments.

• How a grip transformation maps finger forces to object forces and torques, including strategies to ensure slipping is avoided.
• Methods for choosing a point of concurrence for finger forces to minimize friction dependence and maximize stability.
• Practical insights from implementing the approach on a planar four-finger setup, including task scenarios like moving a held object and following a wall with a tool.
• Discussion of sensor and actuator requirements, as well as the balance between theoretical models and real-time control.

Ideal for readers of robotics and manipulation research who want a concrete, experiment-backed view of multi-finger force/position control and its application to planar hands.

Edition details

• Publisher: Forgotten Books
• Publication date: 2022
• Language: English
• ISBN 10: 1332116590
• ISBN 13: 9781332116591
• Binding: Paperback
• Number of pages: 43