Dynamic modeling of a multi-fingered robot hand in free motion

This paper addresses the problem of multi-fingered robot hand's modeling which is fundamental in design of model-based controllers. Roughly speaking, there are two different types of robotic behavior: free, purpose of this paper, and constrained thaqt would be published in the near future. Based on the proposed design of the multi-fingered robot hand, an efficient dynamic equation has been derived by the Lagrange formulation. Several simulation results proved that the derived dynamic model can predict the motion of the multi-fingered hand in free motion without holding any object. Furthermore the developed dynamic model leads to decoupling dynamic characteristics, by which the control of different parts of the system can be separately simulated. Based on this approach, a model=based computed torque method for tracking control of the multi-fingered hand is illustrated.