Although most of the literature on manipulation systems deals with systems with as many degrees of freedom as the dimension of their task space, or even with more (redundant manipulators), kinematically defective manipulation systems are often encountered in robotics, in particular when dealing with simple industry-oriented grippers, or when the whole surface of the manipulator limbs is exploited to constrain the manipulated object, as in “whole-arm” manipulation. Kinematically defective systems differ from nondefective and redundant manipulation systems in many ways, some of which have been addressed in the literature. In this paper, we focus on one of the central problems of manipulation, i.e., controlling the manipulator in order to track a desired object trajectory, while guaranteeing that contact forces are controlled so as to comply with contact constraints (friction bounds, etc.) at every instant. We attack this problem by an unified approach that is appropriate for manipulation systems with general kinematics. When dealing with kinematically defective systems, it is not possible to assign arbitrary trajectories of object motions and contact forces. To understand what restrictions position and force reference trajectories should exhibit in order to be feasible by a given system, is the central issue of this work.

Issue Section:
Technical Papers
Topics:
Kinematics, Manipulators, Degrees of freedom, Dimensions, Friction, Grippers, Redundant manipulators, Robotics, Trajectories (Physics)
1.
Akella
 
P. N.
, and
Cutkosky
 
M. R.
,
1995
, “
Contact Transition Control with Semiactive Soft Fingertips
,”
IEEE Trans. Robotics Automat.
, Vol.
11
, No.
6
, pp.
859
–
867
.
2.
Bicchi
 
A.
,
1993
, “
Force Distribution in Multiple Whole-Limb Manipulation
,”
Proceedings, IEEE Int. Conf. Robotics Automat.
, Vol.
2
, pp.
196
–
201
.
3.
Bicchi
 
A.
,
Melchiorri
 
C.
, and
Balluchi
 
D.
1995
a, “
On the Mobility and Manipulability of General Multiple Limb Robots
,”
IEEE Trans. on Automat. Contr.
, Vol.
11
, No.
2
, pp.
215
–
228
.
4.
Bicchi, A., Prattichizzo, D., and Sastry, S. S., 1995b, “Planning Motion of Rolling Surfaces,” Invited Session: Discontinuities Singularities and New Geometric Structures in Control Design of Nonlinear Systems, Proceedings 34th IEEE Conference on Decision and Control, pp. 2812–2817.
5.
Brockett
 
R. W.
, and
Mesarovich
 
M.
,
1965
, “
The Reproducibility of Multivariable Systems
,”
Jour. Math. Anal. Appl.
, Vol.
11
, pp.
584
–
563
.
6.
Canny, J. F., and Goldberg, K. Y., 1994, “RISC for Industrial Robotics: Recent Results and Open Problems,” Proceedings IEEE Int. Conf. Robotics Automat., pp. 1951–1958.
7.
Cutkosky
 
M. R.
, and
Kao
 
I.
,
1989
, “
Computing and Controlling the Compliance of a Robotic Hand
,”
IEEE Trans. on Robotics Automat.
, Vol.
5
, No.
2
, pp.
151
–
165
.
8.
Howard, W. S., and Kumar, V., 1995, “Modelling and Analysis of the Compliance and Stability of Enveloping Grasps,” Proceedings IEEE Int. Conf. Robotics Automat., pp. 1367–1372.
9.
Kerr
 
J. R.
, and
Roth
 
B.
,
1986
, “
Analysis of Multifingered Hands
,”
Int. J. of Robotics Research
, Vol.
4
, No.
4
, pp.
3
–
16
.
10.
Mason, M. T., and Salisbury, J. K., 1985, Robot Hands and the Mechanics of Manipulation, MIT Press, Cambridge, MA.
11.
Prattichizzo, D., Salisbury, J. K., and Bicchi, A., 1995, “Contact and Grasp Robustness Measures: Analysis and Experiments,” Proceedings of the 4th Int. Symp. on Experimental Robotics, Stanford, CA, pp. 50–60.
12.
Prattichizzo, D., 1995, “Structural Properties and Control of Robotic Manipulation,” PhD thesis, University of Pisa, Pisa, Italy.
13.
Prattichizzo, D., Mercorelli, P., Bicchi, A., and Vicino, A., 1996, “Noninteracting Force/Motion Control in General Manipulation Systems,” Proceedings of 35th IEEE Conf. on Decision Control, pp. 1952–1957.
14.
Prattichizzo, D., and Bicchi, A., (accepted) 1997, “Dynamic Analysis of Mobility and Graspability of General Manipulation System,” IEEE Trans. on Robotics Automat., to appear. Available from www.piaggio.ccii.unipi.it/Prattichizzo.html
15.
Reynaerts
 
D.
, and
Van Brussel
 
H.
,
1995
, “
Whole-Finger Manipulation with a Two-Fingered Robot Hand
,”
Advanced Robotics
, Vol.
9
, No.
5
, pp.
505
–
518
.
16.
Salisbury, J. K., 1987, “Whole-Arm Manipulation,” Proceedings of the 4th International Symposium of Robotics Research, Cambridge, MA, MIT Press. Preprints (late paper).
17.
Sain
 
M. K.
, and
Massey
 
J. L.
,
1969
, “
Invertibility of Linear Time-Invariant Dynamical Systems
,”
IEEE Trans. Automat. Contr.
, Vol.
AC–14
, pp.
141
–
149
.
18.
Siciliano, B., 1996, “Parallel Force/Position Control of Robotic Manipulation,” Robotics Research, The Seventh International Symposium, Georges Giralt and Gerald Hirzinger Editors, London, Springer-Verlag, pp. 78–89.
19.
Trinkle, J. C., 1987, “The Mechanins and Planning of Enveloping Grasps,” PhD thesis, University of Pennsylvania, Philadelphia, PA.
20.
Trinkle, J. C., Farahat, A. O., and Stiller, P. F., 1994, “Second-Order Stability Cells of a Frictionless Rigid Body Grasp by Rigid Body Fingers,” Proceedings IEEE Int. Conf. Robotics Automat., pp. 2815–2821.
21.
Zhang, X.-Y., Nakamura, Y., Goda, K., and Yoshimoto, K., 1994, “Robustness of Power Grasp,” Proceedings IEEE Int. Conf. Robotics Automat., pp. 2828–2835.
This content is only available via PDF.
Copyright © 1997
 by The American Society of Mechanical Engineers
You do not currently have access to this content.