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Dynamic Modeling and Computer Simulation of 3D Objects Grasping

  • Rim Boughdiri
  • Hala Bezine
  • Nacer K. M’Sirdi
  • Aziz Naamane
  • Adel M. Alimi
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 195)

Abstract

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

Keywords

Multi-fingered robot hand Dynamic Modeling Model-based control 3D Simulation 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Rim Boughdiri
    • 1
    • 2
  • Hala Bezine
    • 1
  • Nacer K. M’Sirdi
    • 2
  • Aziz Naamane
    • 2
  • Adel M. Alimi
    • 1
  1. 1.REGIM: REsearch Group on Intelligent MachinesUniversity of Sfax, National Engineering School of Sfax (ENIS)SfaxTunisia
  2. 2.LSISCNRS UMR 7296. Dom. Universitaire St JérômeMarseilleFrance

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