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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Prattichizzo, D., Pozzi, M. (2020). Robot Grasp Control. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_171-2
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DOI: https://doi.org/10.1007/978-1-4471-5102-9_171-2
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Robot Grasp Control- Published:
- 18 April 2020
DOI: https://doi.org/10.1007/978-1-4471-5102-9_171-2
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Robot Grasp Control- Published:
- 28 November 2014
DOI: https://doi.org/10.1007/978-1-4471-5102-9_171-1