Planning Setpoints for Contact Force Transitions in Regrasp Tasks of 3D Objects

Patrick Grosch, Raul Suarez, Raffaella Carloni, Claudio Melchiorri

    Research output: Contribution to conferencePaperAcademicpeer-review

    1 Citation (Scopus)


    This paper presents a simple and fast solution to the problem of finding the time variation of n contact forces that keep an object under equilibrium while one of the n contact forces is removed/added from/to the grasp. The object is under a constant perturbation force, like for instance its own weight. It is assumed no acceleration of the object during the regrasp operation, as well as the knowledge of the starting and ending grasp configurations. The procedure returns the set points of the n contact forces for a feed-forward control system of a manipulator device in a regrasping action. The procedure was implemented and an illustrative numerical example is included in the paper.
    Original languageUndefined
    Number of pages6
    Publication statusPublished - Jul 2008
    Event17th IFAC World Congress 2008 - Seoul, Korea, Republic of
    Duration: 5 Jul 200812 Jul 2008
    Conference number: 17


    Conference17th IFAC World Congress 2008
    Country/TerritoryKorea, Republic of


    • Design methodology for HMS
    • CE-Advanced Robotics
    • IR-77501
    • EWI-20227
    • Robots manipulators
    • Telerobotics

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