Modeling and control of intelligent robots a general hybrid system framework

By considering the multi-fingered manipulation problem as a hybrid one, we propose a modeling framework which encapsulates occurrence of impacts, switching between types of motion, and phases of continuous motion. We first formulates the robot hand subject to unilateral constraints into a general dynamic complementarity (DC) system expression, then transform DC system to a mixed logical dynamical (MLD) model. The general velocity discontinuity generated by impact event can be considered in MLD model. Based on the derived MLD model dexterous hand manipulation can be realized via mixed integer quadratic programming (MIQP) algorithm. Further more, MLD model can be expected for subsequent stability and control studies, which is still missing in the field of multi-contact robot system design by taking into account the whole hybrid dynamics.