Title :
Analysis of the multi-finger dynamics for robot hand system based on EtherCAT
Author :
Mingxin Hou ; Li Jiang ; Minghe Jin ; Hong Liu ; Zhaopeng Chen
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
A multi-finger dynamics model has been presented in this study, which contains a single finger dynamics model equation and a restraint equation between fingers based on Lagrangian multiplier controller. To validate the model, an EtherCAT master and slave platform has been developed based on FPGA. Meanwhile, the multi-finger dynamics algorithm has been designed in the TwinCAT. Finally, the experiments demonstrate this strategy can be implemented and operated by online grasping object.
Keywords :
control engineering computing; field programmable gate arrays; local area networks; manipulator dynamics; EtherCAT master-slave platform; FPGA; Lagrangian multiplier controller; TwinCAT; multifinger dynamic analysis; multifinger dynamic model; online grasping object; restraint equation; robot hand system; single-finger dynamic model equation; Equations; Heuristic algorithms; Joints; Mathematical model; Robots; Thumb; EtherCAT; finger; grasp; multi-body dynamics; robot hand;
Conference_Titel :
Natural Computation (ICNC), 2014 10th International Conference on
Conference_Location :
Xiamen
Print_ISBN :
978-1-4799-5150-5
DOI :
10.1109/ICNC.2014.6975987
