Manipulation Modeling and Control Under Pure Rolling Contact Constraints

A novel control method is proposed for a dexterous robotic hand in pure rolling contact with an object. For dynamics modeling, the extended Udwadia-Kalaba equation is applied to formulate the motion equation of the robotic hand (which inertia matrix is singular due to the pure rolling constraints) without any auxiliary variables. A control strategy based on the formulated contact forces model is introduced to tackle with the trajectory tracking issues of the robotic hand from the constraint-following perspective. Both the theoretical proof and the simulations in the three-dimensional workspace could verify the effectiveness of the proposed control method.