The grasping control problem for a hyperredundant arm is studied. First, the dynamic model of the arm is analyzed. The control problems are divided in the subproblems: the position control in a desired reaching area, the control of the arm around the object-load and the force control of grasping. The difficulties determined by the complexity of the non-linear integral-differential equations are avoided by using a very basic energy relationship of this system. First, the dynamic control of the arm for a desired reaching area is inferred. Then, the position control and the force control for grasping are discussed. Numerical simulations are presented.
distributed parameter systems, force control, grasping, hyperredundant robots.
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