Amirkabir University of Technology Amirkabir Journal of Mechanical Engineering 2008-6032 53 2 2021 04 21 Planar Object Manipulation with Multi Fingers Robot Located on a Moving Hand Under Rolling Grasp Constrains Planar Object Manipulation with Multi Fingers Robot Located on a Moving Hand Under Rolling Grasp Constrains 943 958 3701 10.22060/mej.2019.16328.6334 FA Salman Ahmadi Department of mechanical Engineering,Parand branch, Islamic Azad university, Parand, Iran Rambod Rastegari Department of mechanical engineering, Parand branch, Islamic Azad university, Parand, Iran Journal Article 2019 05 13 Object grasping by robot fingers with purely rolling constraints is one of the most interesting issues under consideration by many researchers. In earlier studies, the main goal was the manipulation of the object under purely rolling constraints to reach the final stable configuration. In this paper, in addition to deriving kinematic and dynamic equations of the system dual fingers robot and grasping semi-circular object located on a moving hand on the plane with rigid hemispherical fingertips under pure rolling constrained, we investigate object manipulation on the desired path maintaining dynamics stability. Modified multiple impedance control is used for object manipulation and robot fingers by considering the required reforms in this control law. In this method, multiple impedance control is performed by applying the desired behavior of the entire system, including moving base, fingers and object, and dynamics stability condition is satisfied. Power adjustment and the place where forces are applied could have considerable effects on minimizing the fingers slip on the surface. The results of simulations show the eligible object manipulation and dynamics stability by robot fingers and moving base under pure rolling grasp. Object grasping by robot fingers with purely rolling constraints is one of the most interesting issues under consideration by many researchers. In earlier studies, the main goal was the manipulation of the object under purely rolling constraints to reach the final stable configuration. In this paper, in addition to deriving kinematic and dynamic equations of the system dual fingers robot and grasping semi-circular object located on a moving hand on the plane with rigid hemispherical fingertips under pure rolling constrained, we investigate object manipulation on the desired path maintaining dynamics stability. Modified multiple impedance control is used for object manipulation and robot fingers by considering the required reforms in this control law. In this method, multiple impedance control is performed by applying the desired behavior of the entire system, including moving base, fingers and object, and dynamics stability condition is satisfied. Power adjustment and the place where forces are applied could have considerable effects on minimizing the fingers slip on the surface. The results of simulations show the eligible object manipulation and dynamics stability by robot fingers and moving base under pure rolling grasp. https://mej.aut.ac.ir/article_3701_b181eaa49f5924e16c772dcb718fcd0f.pdf