A general dynamic force distribution algorithm for multifingered grasping

A general dynamic force distribution (DFD) algorithm for multifingered grasping is presented. Based on the convexity and cone property of contact constraints, the optimal internal force is defined. Determination of the contact force is divided into two phases: (1) determine the direction of the optimal internal force during grasp planning and (2) determine the manipulation force and compensation factor during task manipulation. The total computation cost consists of off-line numerical iterations and on-line analytical computations. Only the latter is related to the real-time control. The algorithm can directly deal with the nonlinear and/or coupled constraints and well overcome the temporal discontinuity.