Slippage occurrence has an important roll in stable and robust object grasping and manipulation. However, in majority of prior research on soft finger manipulation, presence of the slippage between fingers and objects has been ignored. In this paper which is a continuation of our prior work, a revised and more general method for dynamic modeling of planar slippage is presented using the concept of friction limit surface. Friction limit surface is utilized to relate contact sliding motions to contact frictional force and moment in a planar contact. In this method, different states of planar contact are replaced with a second-order differential equation. As an example of the proposed method application, dynamic modeling and slippage analysis of object manipulation on a horizontal plane using a three-link soft finger is studied. Then, a controller is designed to reduce and remove the undesired slippage which occurs between the soft finger and object and simultaneously move the object on a predefined desired path. Numerical simulations reveal the acceptable performance of the proposed method and the designed controller.

中文翻译：

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使用机器人软手指的对象操纵中的平面滑移建模和控制

滑移的发生在稳定和鲁棒的物体抓握和操纵中起着重要的作用。然而，在大多数有关软手指操纵的现有研究中，手指与物体之间的滑动的存在已被忽略。本文是我们先前工作的延续，本文使用摩擦极限面的概念提出了一种修正的，更通用的平面滑动动力学建模方法。摩擦极限表面用于使接触滑动运动与平面接触中的接触摩擦力和力矩相关。在这种方法中，平面接触的不同状态被二阶微分方程代替。作为所提出的方法应用的示例，研究了使用三链软指在水平面上进行对象操纵的动态建模和滑动分析。然后，控制器被设计成减少和消除在软手指和物体之间发生的不希望的打滑，并同时在预定的期望路径上移动物体。数值模拟显示了所提出的方法和所设计的控制器的可接受性能。