Dynamic Modeling and Analysis for robotic arm-hand systems

It is crucial for the motion planning, structure analysis and control design to construct the dynamic model (DM) for robot system. In this paper, we propose a mathematical modeling method for multi-finger arm robot, which represents a challenging issue due to the complexity and strong coupling of robotic arm-hand systems. Drawing inspiration from the genuine motion characteristics of the human arm and hand, we conceptualize the multi-finger system as a collection of robotic rigid manipulators. Guided by this concept, we introduce a uniform, low complexity modeling approach by using the Lagrange formulation and Denavit-Hartenberg convention, which is capable of constructing the dynamics for robotic arm-hand systems with arbitrary degree of freedom (DOF) in an analytical manner. Simple but effective, the resulting DM formulation is concise, further facilitating control design. Furthermore, a simulation upon using baseline PID control method is conducted to validate the proposed DM frame.