Dynamic Modeling and Computer Simulation of 3D Objects Grasping View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2013

AUTHORS

Rim Boughdiri , Hala Bezine , Nacer K. M’Sirdi , Aziz Naamane , Adel M. Alimi

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 HandGrasp 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 More... »

PAGES

283-293

References to SciGraph publications

  • 2009. Virtual Human Hand: Grasping and Simulation in DIGITAL HUMAN MODELING
  • 2008. XPERSim: A Simulator for Robot Learning by Experimentation in SIMULATION, MODELING, AND PROGRAMMING FOR AUTONOMOUS ROBOTS
  • Book

    TITLE

    Soft Computing Applications

    ISBN

    978-3-642-33940-0
    978-3-642-33941-7

    Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/978-3-642-33941-7_26

    DOI

    http://dx.doi.org/10.1007/978-3-642-33941-7_26

    DIMENSIONS

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    143 https://www.grid.ac/institutes/grid.462878.7 schema:alternateName Laboratoire des Sciences de l'Information et des Systèmes
    144 schema:name LSIS, CNRS UMR 7296. Dom. Universitaire St Jérôme, Avenue Escandrille Normandie–Niemen, 13397 Marseille, France
    145 rdf:type schema:Organization
     




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