Departmental Papers (MEAM)

Document Type

Conference Paper

Subject Area


Date of this Version

May 2001


Copyright 2001 IEEE. Reprinted from Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA 2001) Volume 3, pages 2229-2234.
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In this paper we consider the dynamics and control of whole arm grasping systems. We develop a control scheme that employs a minimal set of inputs to control the trajectory of the system while using the surplus inputs to control the interaction forces in order to maintain the unilateral constraints at both rolling and sliding contacts. Since the number of surplus inputs is less than the number of output force variables, we propose a controller that controls the critical contact force components. We emphasize the dynamic models and algorithms for computing contact forces, which are crucial to the development of the control algorithms. Finally, we show how compliant contact models and a previously developed integrated simulation approach [14] are used to overcome the difficulties with uniqueness and existence of solutions. A planar whole arm manipulation system is used as an example to illustrate the basic ideas.



Date Posted: 19 November 2004

This document has been peer reviewed.