LPV Modeling and Control for Dexterous Manipulation with a Multifingered Hand under Geometric Uncertainties

This paper presents a new modelling and control strategy for dexterous manipulation with multinfingered hands in presence of geometric uncertainties in the system, e.g. uncertainties in the object shape. The new multifingered hand model is based on a descriptor form and a Linear Parameter-Varying (LPV) representation, which allows us to take into consideration geometric uncertainties of the hand/object system. Based on the LPV representation, a static state-space feedback is calculated according to an optimization problem with Linear Matrix Inequality (LMI) constraints. This synthesis allows to control the object position in presence of geometric uncertainties. The control strategy has been tested in simulation in a case study with contact location error and object shape uncertainty, and it has been compared with a previous robust control strategy.