Optimal control for robot-hand manipulation of an object using dynamic visual servoing

This paper presents a novel control approach to dynamic visual servo control multi-fingered robotic hands for the manipulation performance of an object. The control approach allows the path tracking of the object motion by means of visual information and takes into account both the dynamics model of the robot hand and the grasping force of the fingertips. In addition, an optimal approach is employed to obtain the desired behaviour in the joint space based on an indicated cost function which determines how the control effort is distributed over the robot fingers' joints. Finally, authors show experimental verifications on a robotic manipulation system for some of the visual servo controllers derived from the control approach.