SIMULATION AND IMPEDANCE CONTROL OF THE GRASPING OF A SPHERICAL, ELASTIC OBJECT WITH SOFT CONTACT SURFACES

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HEIDARY SEYED HAMID REZA; BEIGZADEH BORHAN; RIAHI MOHAMMAD

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Journal: Modares Mechanical Engineering Year:2017 | Volume:17 | Issue:7 Page(s): 9-19

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Title

SIMULATION AND IMPEDANCE CONTROL OF THE GRASPING OF A SPHERICAL, ELASTIC OBJECT WITH SOFT CONTACT SURFACES

Author(s)

HEIDARY SEYED HAMID REZA | BEIGZADEH BORHAN | RIAHI MOHAMMAD | Issue Writer Certificate

Keywords

GRASPINGQ1

FINGERS WITH SOFT-TIPSQ1

ISOTROPICQ1

ELASTIC OBJECTQ2

IMPEDANCE CONTROLQ2

STABILITYQ2

Abstract

Soft- tips in human fingers play a great role in object GRASPING; especially when talking about ISOTROPIC and elastic matters. In other words, STABILITY of a typical grasp is exceedingly dependent on contact conditions. Pure rolling (without slippage) is a kind of contact constraint which is greatly tied with this feature; we have focused on modelling this type of contact in this paper where the problem of GRASPING an elastic sphere-formed ball by a pair of soft-tip parallel fingers is presented. First, by modeling objects as a mass-spring system, dynamical and kinematical equations of motion are derived. Then, a position based IMPEDANCE CONTROL is developed. In order to implement and validate the suggested controller, a pair of soft-tip fingers, holding an elastic ball, is simulated in MSC ADAMS. This software begets a control block in the Simulink software as a plant of the control system. Thus, the process of GRASPING under the effect of controller can be simulated in a real time manner. The result of the simulation shows the ability of controller in appropriate tracking fingers until contact with ball is made. Moreover, the simulation results show the STABILITY of the GRASPING process.

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APA: Copy

HEIDARY, SEYED HAMID REZA, BEIGZADEH, BORHAN, & RIAHI, MOHAMMAD. (2017). SIMULATION AND IMPEDANCE CONTROL OF THE GRASPING OF A SPHERICAL, ELASTIC OBJECT WITH SOFT CONTACT SURFACES. MODARES MECHANICAL ENGINEERING, 17(7 ), 9-19. SID. https://sid.ir/paper/179330/en

Vancouver: Copy

HEIDARY SEYED HAMID REZA, BEIGZADEH BORHAN, RIAHI MOHAMMAD. SIMULATION AND IMPEDANCE CONTROL OF THE GRASPING OF A SPHERICAL, ELASTIC OBJECT WITH SOFT CONTACT SURFACES. MODARES MECHANICAL ENGINEERING[Internet]. 2017;17(7 ):9-19. Available from: https://sid.ir/paper/179330/en

IEEE: Copy

SEYED HAMID REZA HEIDARY, BORHAN BEIGZADEH, and MOHAMMAD RIAHI, “SIMULATION AND IMPEDANCE CONTROL OF THE GRASPING OF A SPHERICAL, ELASTIC OBJECT WITH SOFT CONTACT SURFACES,” MODARES MECHANICAL ENGINEERING, vol. 17, no. 7 , pp. 9–19, 2017, [Online]. Available: https://sid.ir/paper/179330/en

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