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

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. Afterward, 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!, that has been suitably adapted and redistributed.