A FRAMEWORK FOR GRASP SIMULATION AND CONTROL IN DOMESTIC ENVIRONMENTS

A service robot for a domestic environment should be able to grasp, move, and release objects. To successfully grasp objects that cannot be expected to be perfectly modelled and whose positions are not exactly known, control algorithms need to handle uncertainty. Such controllers often use information from force/torque, tactile and joint angle sensors. This paper presents a simulation environment and proposes a design approach for controlling robotic grasping under those conditions. Finally, results from simulation of a sample task are presented.