Title :
Modular dynamic modeling and simulation of grasping
Author :
Ferretti, Gianni ; Magnani, GianAntonio ; Rocco, Paolo
Author_Institution :
Dipt. di Elettronica e Inf., Politecnico di Milano, Italy
Abstract :
A point contact model, suitable for dynamic modeling and simulation of complete grasping tasks, is discussed in the paper. The model is applicable to an arbitrary number of contacts and is local to the point of contact, thus allowing a modular approach to grasp systems modeling. The model, based on an extension of the LUGRE friction model, also accounts for microscale phenomena such as microsliding displacements. Some simulation results are discussed showing the effectiveness of the model in assessing the performance of a grasp control system
Keywords :
dexterous manipulators; force control; friction; geometry; manipulator dynamics; LUGRE friction model; grasp control system; grasping; microscale phenomena; microsliding displacements; modular dynamic modeling; point contact model; Analytical models; Computational modeling; Control systems; Design engineering; Fingers; Friction; Manipulator dynamics; Motion analysis; Predictive models; Process design;
Conference_Titel :
Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-7803-5038-3
DOI :
10.1109/AIM.1999.803207
