Hand Dynamics and Control
|Prev: Multifingered Hand Kinematics||Chapter 6 - Hand Dynamics and Control||Next: Nonholonomic Behavior|
In this chapter, we study the dynamics and control of a set of robots performing a coordinated task. Our primary example will be that of a multifingered robot hand manipulating an object, but the formalism is considerably broader. It allows a unified treatment of dynamics and control of robot systems subject to a set of velocity constraints, generalizing the treatment given in Chapter 4.