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Grasp planning and parallel control of a redundant dual-arm/hand manipulation system

Published online by Cambridge University Press:  19 July 2013

Fabrizio Caccavale ,
Vincenzo Lippiello ,
Giuseppe Muscio ,
Francesco Pierri ,
Fabio Ruggiero  and
Luigi Villani
Fabrizio Caccavale
Affiliation:
Scuola di Ingegneria, Università della Basilicata, via dell'Ateneo Lucano 10, Potenza 85100, Italy
Vincenzo Lippiello
Affiliation:
PRISMA Lab, Dipartimento di Ingegneria Elettrica e Tecnologie dell'Informazione, Università di Napoli Federico II, via Claudio 21, Naples 80125, Italy
Giuseppe Muscio
Affiliation:
Scuola di Ingegneria, Università della Basilicata, via dell'Ateneo Lucano 10, Potenza 85100, Italy
Francesco Pierri
Affiliation:
Scuola di Ingegneria, Università della Basilicata, via dell'Ateneo Lucano 10, Potenza 85100, Italy
Fabio Ruggiero*
Affiliation:
PRISMA Lab, Dipartimento di Ingegneria Elettrica e Tecnologie dell'Informazione, Università di Napoli Federico II, via Claudio 21, Naples 80125, Italy
Luigi Villani
Affiliation:
PRISMA Lab, Dipartimento di Ingegneria Elettrica e Tecnologie dell'Informazione, Università di Napoli Federico II, via Claudio 21, Naples 80125, Italy
*
*Corresponding author. E-mail: fabio.ruggiero@unina.it
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Summary

In this paper, a kinematic model of a dual-arm/hand robotic system is derived, which allows the computation of the object position and orientation from the joint variables of each arm and each finger as well as from a suitable set of contact variables. On the basis of this model, a motion planner is designed, where the kinematic redundancy of the system is exploited to satisfy some secondary tasks aimed at ensuring grasp stability and manipulation dexterity without violating physical constraints. To this purpose, a prioritized task sequencing with smooth transitions between tasks is adopted. Afterwards, a controller is designed so as to execute the motion references provided by the planner and, at the same time, achieve a desired contact force exerted by each finger on the grasped object. To this end, a parallel position/force control is considered. A simulation case study has been developed by using the dynamic simulator GRASPIT!, which has been suitably adapted and redistributed.

Keywords

GraspingRedundant manipulatorsMotion planningRobotic handsForce control
Type
Articles
Information
Robotica , Volume 31 , Issue 7 , October 2013 , pp. 1169 - 1194
Copyright
Copyright © Cambridge University Press 2013 

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