High Precision Constrained Grasping with Cooperative Adaptive Handcontrol

A method for high precision constrained object manoeuvering for non-redundant rigid multifinger hands is proposed. A passivity-based adaptive cooperative control scheme carries out compensation of all uncertain inertial and dynamic friction forces to guarantee asymptotic tracking of all contact forces and joint position-orientation trajectories over orthogonal force- and position-based impedance error manifolds. Optimal internal and external force trajectories are obtained to minimize the contact forces onto the constrained object while exerting a given desired contact force onto the environment. The simulation study of two robot fingers manipulating a constrained object for combined fast and slow velocity regimes shows that when the dynamic friction compensation is turned on tracking errors decrease tenfold.

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