Slip compensated manipulation with cooperating multiple robots

Slip can be avoided by defining multiple constraints of grasping forces and usable workspace, but these constraints limit the utilization of a robotic system. Most researches on finger grasps have been assuming no slip, but in this paper we consider it as the main issue. The slip phenomenon is analyzed and generalized for a planar multiple robot system, manipulating a geometrically regular-shaped object. Different slip configurations are introduced and methods for their detection are proposed. This detection requires no sensors for the object´s posture, but rather utilizes the finger-tip position information only. Consequently, it is possible to realize the exact manipulation of an object and stability of control with minimal sensors