Paper Info
Title
Dynamic Modeling and Computer Simulation of 3D Objects Grasping.
Abstract
Among the essentials functionalities of several robotic systems are grasping and manipulating of objects by multi-fingered robot hands. Therefore many researchers have studied features of the two major closely related tasks. In this paper, we consider the problem of mathematical modeling of the robotic hand, the object and the physical interactions between the object and fingers under sliding constraints. Development of a numerical simulator for 3-D object grasping and manipulation by multi-fingered robot hands is an active area in robotic field. By integrating the derived Lagrange's equations of motion of the fingers and object under sliding constrains in the 3D simulator Hand Grasp that is designed and developed at REGIM (Laboratory of REsearch Group on Intelligent Machine), numerical simulation results of 3-D object pinching and manipulation based on the impedance control law. This simulation results show the validity of mathematical modeling and the control method
Year
DOI
Venue
2012
10.1007/978-3-642-33941-7_26
SOFT COMPUTING APPLICATIONS
Keywords
Field
DocType
Multi-fingered robot hand,Dynamic Modeling,Model-based control,3D Simulation
Robotic systems,Computer science,3d simulation,Control engineering,Human–computer interaction,System dynamics,Robot
Conference
Volume
ISSN
Citations 
195
2194-5357
0
PageRank 
References 
Authors
0.34
8
5
Name
Order
Citations
PageRank
Rim Boughdiri100.34
Hala Bezine2656.63
Nacer K. M'Sirdi3223.67
Aziz Naamane462.73
Mohamed Adel Alimi51947217.16