High precision constrained grasping with cooperative adaptive hand control (Q1347697)

This paper suggests an adaptive control scheme which ensures precise asymptotic grasping and manipulation. Despite parametric uncertainty in all system parameters, tracking of position and force errors enforces an impedance relationship, which in turn allows for a smooth manipulation of the constrained object. The whole system is modeled with differential algebraic equations, so that the dynamic model naturally includes the kinematical constraint of the environment on the object, and kinematic constraints of the object on the fingertips.