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

fYear

2014

fDate

19-21 Aug. 2014

Firstpage

1061

Lastpage

1065

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Natural Computation (ICNC), 2014 10th International Conference on

Conference_Location

Xiamen

Print_ISBN

978-1-4799-5150-5

Type

conf

DOI

10.1109/ICNC.2014.6975987

Filename

6975987