THE INTERNAL FORCE COMPUTATION IN COORDINATIVE MANIPULATION WITH A MULTIFINGERED HAND

Effective finger force computation is necessary for successful manipulation of an object by a multifingeredhand.Based on point contact models,the static forces are analysed for a lower velocity system which is com-posed of fingers and grasped object in this paper.The manipulation force is distributed rationally.An opti-mization method for computing the internat force is presented on the basis of minimizing torque.The con-straint condition is considered fully in computing the internal force,i.e.,the fingres can only push,not aswell as pull on the object,because there is no glue between the object and the fingers.Finally,as an exam-ple,the graphical simulaion of a multifingered hand manipulating a cylindrical object is given.