| Abstract: | This paper presents a hierarchical
control system for robot multifingered coordinate manipulation. Given a manipulation,the
task planner generates a sequence of object's motion velocities at first,and then
generates for coordinate motion the desired velocities of finger's motion and desired
orientation change of the grasped object according to the desired velocities of object's
motion.At the same time,the force planner generates the grasp forces on the fingers in
order to resist the external forces on the object,according to the grasp
posture.Finally,the system generates a result compliance velocity from both the desired
finger's velocities and desired grasp forces,and transfers it into joint velocites through
the finger's inverse Jacobian.Then the controller of joint motion implements the control
of both forces and velocities for the fingers.The approach has been applied to the
development of control system HKUST dexterous hand successfully.Experiment results show
that it is not only possible to trail and control the object's track,but also possible to
realize force control and the hybrid control of both forces and velocities through this
method. |
