An Investigation Of Dextrous Manipulation Planning Using C-functions And Stability Functions
A.O. Farahat · 2005
The purpose of this paper is 40 investigate quasi-static dextrous manlpulatlon using C-functions and stability functions and motion mode functions.In particular we consider the planning problem where we start with an ob-ject in an initia! grasp configuration and at-tempt to find a joint trajectory to manipulate the object to a desired configuration. A cen-tral theme in this paper is the presumed lack of knowledge of the coefficient of friction.For a given joint trajectory we show how to establish upper bounds for the coefficient of friction be-low which the motioy is qualitatively the same as in frictionless motion. We also show how to obtain upper bounds.on the control error from a nominal joint trajectory deviation of con-trol inputs from the nominal value below which the motion is qualitatively the same. Contact forces and joint torques for proper manipula-tion are also computed. 1