Determination of Optimal Contact Forces for Multi-Jointed, Multi-Fingered Robotic Hand Considering Contacts of Inner Links

손마디 접촉을 고려한 다지 다관절 로봇손의 최적 접촉력 결정 방법

This paper deals with a case for robotic hands to grasp the objects using inner link contact as well as fingertip contact. And the case is proved to be more efficient than the case of using only fingertip contact in terms of stability and uniform distribution of the contact forces. The general algorithm for the determination of the optimal ocntact force is developed for the soft finger contact as well as the point contact with friction. To show the validity of the proposed algorithm a numerical example is illustated by employing a robotic hand with three fingers each of which has four joints.