Research on an automatic control system for a manipulator for moving objects

Abstract

The aim of this work is the development and research of methods for automatic planning and motion control of a robotic system consisting of a manipulator ("hand") and a multi fingered grasping device ("wrist") during object grasping and manipulation operations. The relevance is driven by the limitations of remote control in hazardous environments and the need to increase the reliability and versatility of automatic manipulations, especially when performing power (enveloping) grasps using not only the wrist's fingers but also the links of the hand itself. The research focuses on developing a unified approach to controlling the "hand + wrist" system, analyzing the grasp properties for such a combined system, developing methods for planning the coordinated motion of all links, and creating a control system that ensures trajectory tracking