Modelling and simulation of a multi-fingered robotic hand for grasping tasks

This paper develops the kinematic, dynamic and contact models of a three-fingered robotic hand (BarrettHand) in order to obtain a complete description of the system which is required for manipulation tasks. These models do not only take into account the mechanical coupling and the breakaway mechanis...

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Bibliographic Details
Published in2010 11th International Conference on Control Automation Robotics & Vision pp. 1577 - 1582
Main Authors Corrales, J A, Jara, C A, Torres, F
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2010
Subjects
breakaway
Computational modeling
contact
dynamics
Fingers
Joints
Kinematics
robotic hand
robotic manipulation
Robots
tessellation
Three dimensional displays
VRML
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ISBN1424478146
9781424478149
DOI10.1109/ICARCV.2010.5707292

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Summary:This paper develops the kinematic, dynamic and contact models of a three-fingered robotic hand (BarrettHand) in order to obtain a complete description of the system which is required for manipulation tasks. These models do not only take into account the mechanical coupling and the breakaway mechanism of the under-actuated robotic hand but they also obtain the force transmission from the hand to objects, which are represented as triangle meshes. The developed models have been implemented on a software simulator based on the Easy Java Simulations platform. Several experiments have been performed in order to verify the accuracy of the proposed models with regard to the real physic system.
ISBN:1424478146
9781424478149
DOI:10.1109/ICARCV.2010.5707292