What question did this study set out to answer?

To establish decoupled forward and inverse dynamic models for underactuated robotic fingers to enable efficient real-time dynamic simulation and stable grasp control.

December 1, 2010International Journal of Humanoid Robotics

Underactuated Hand Dynamic Modeling, Its Real-Time Simulation, and Control

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Authors

HHHai HuangHarbin Engineering University YPYongjie PangUniversity of Electronic Science and Technology of China LJLi JiangShanghai Jiao Tong University

Discussion

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Overview

Simulation study demonstrates decoupled dynamic modeling and impedance control in underactuated robotic fingers, indicating improved stability and accuracy during grasping tasks.

Key Points

To establish decoupled forward and inverse dynamic models for underactuated robotic fingers to enable efficient real-time dynamic simulation and stable grasp control.
Formulated forward and inverse dynamics for a 2-DOF underactuated finger using a virtual spring approach to bypass differential-algebraic equations, extending the model to a 3-joint finger.
Compared dynamic simulation outputs from Matlab/Simulink against multi-body grasp models developed in ADAMS.
Constructed a dynamic model-based velocity observer combined with adaptive curve fitting to estimate velocities and compensate for uncertainties in spring stiffness, inertia, and damping.
Matlab/Simulink dynamic simulation trajectories matched the mechanical grasp simulation results generated in ADAMS.
The adaptive curve-fitting velocity observer effectively reconstructed joint velocity signals while accounting for parameter uncertainties in torsion springs, inertia, and damping.
Integrating the decoupled dynamic model and observer into force-based impedance control enabled accurate and stable grasping force control.

Cite This Study

Huang et al. (2010) studied this question.

synapsesocial.com/papers/6a1ffe982065d284090dc4e9 https://doi.org/10.1142/s021984361000226x

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December 1, 2010International Journal of Humanoid Robotics

Underactuated Hand Dynamic Modeling, Its Real-Time Simulation, and Control

View Full Paper

Ask AI

Bookmark

Authors

HHHai HuangHarbin Engineering University YPYongjie PangUniversity of Electronic Science and Technology of China LJLi JiangShanghai Jiao Tong University

Discussion

Member takes

Overview

Simulation study demonstrates decoupled dynamic modeling and impedance control in underactuated robotic fingers, indicating improved stability and accuracy during grasping tasks.

Key Points

To establish decoupled forward and inverse dynamic models for underactuated robotic fingers to enable efficient real-time dynamic simulation and stable grasp control.
Formulated forward and inverse dynamics for a 2-DOF underactuated finger using a virtual spring approach to bypass differential-algebraic equations, extending the model to a 3-joint finger.
Compared dynamic simulation outputs from Matlab/Simulink against multi-body grasp models developed in ADAMS.
Constructed a dynamic model-based velocity observer combined with adaptive curve fitting to estimate velocities and compensate for uncertainties in spring stiffness, inertia, and damping.
Matlab/Simulink dynamic simulation trajectories matched the mechanical grasp simulation results generated in ADAMS.
The adaptive curve-fitting velocity observer effectively reconstructed joint velocity signals while accounting for parameter uncertainties in torsion springs, inertia, and damping.
Integrating the decoupled dynamic model and observer into force-based impedance control enabled accurate and stable grasping force control.

Cite This Study

Huang et al. (2010) studied this question.

synapsesocial.com/papers/6a1ffe982065d284090dc4e9 https://doi.org/10.1142/s021984361000226x

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