An algorithm for the control of a hand-arm robotic system

A method for exploiting the redundancy of a hand-arm mechanical system for manipulation tasks is presented. The basic idea is to take advantage of the intrinsic, different, capabilities of the arm and hand subsystems during the task execution. The Jacobian transpose algorithm is at the core of the proposed method. Different behaviors of the hand and of the arm are obtained by means of constraints in Null(J) properly added to the solution of the basic scheme.<
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