Chung, WY & Waldron, KJ 1993, 'Force distribution by optimizing friction angles for multifinger system', Proceedings - IEEE International Conference on Robotics and Automation, pp. 717-722.
An efficient way of finding the force distribution by optimizing the contact friction angles, which are the angles between the contact forces and contact normals, for multi-finger grasping systems was developed. Three steps, projection, residual wrench equilibrium, and optimization, are proposed to solve the force distribution problem. Examples are presented to show how the proposed method works. The results are also compared to those obtained by using Lagrange multipliers. Furthermore, the proposed method shows sufficient efficiency to be used for real-time control applications.
Chung, WY & Waldron, KJ 1993, 'Integrated control strategy for multifingered systems', American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC, pp. 263-270.
A method of force allocation by optimizing the friction angles at finger contacts was combined with the computed torque method to find the torques to be commanded at finger joints for multifingered systems. In this way, slip can be avoided when the object is grasped or manipulated. The proposed method can be efficiently used to find the input torques, and is applicable for real-time application. A history-based method is also proposed to improve the smoothness of the input torque commands. Three dimensional simulation results are given.