Dynamic Modeling and Computer Simulation of 3D Objects Grasping

摘要

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