Mechanism of tweezers grasping system

This paper proposed the novel approach for operating tweezers with multi-finger robot hand. The proposed method based on mechanism of tweezers. The whole algorithm was divided into two main phases; Choosing phase for roughly eliminating the impossible grasp posture, and Controlling phase for deriving the contact wrenches for supporting the system. There are two controllers in this algorithm, one for controlling grasp posture, another one for controlling distance between tweezers tip. We also presented how to compensate for the deviation occurring during grasping and operating tweezers. The validity of our proposed method is shown by example result.