Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody
Grasping and dexterous manipulation remain fundamental challenges in robotics, above all when performed with multifingered robotic hands. Having simulation tools to design and test grasp and manipulation control strategies is paramount to get functional robotic manipulation systems. In this paper, w...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2022-05-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2022.873558/full |
| _version_ | 1817976683364352000 |
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| author | Maria Pozzi Gabriele Maria Achilli Maria Cristina Valigi Monica Malvezzi |
| author_facet | Maria Pozzi Gabriele Maria Achilli Maria Cristina Valigi Monica Malvezzi |
| author_sort | Maria Pozzi |
| collection | DOAJ |
| description | Grasping and dexterous manipulation remain fundamental challenges in robotics, above all when performed with multifingered robotic hands. Having simulation tools to design and test grasp and manipulation control strategies is paramount to get functional robotic manipulation systems. In this paper, we present a framework for modeling and simulating grasps in the Simulink environment, by connecting SynGrasp, a well established MATLAB toolbox for grasp simulation and analysis, and Simscape Multibody, a Simulink Library allowing the simulation of physical systems. The proposed approach can be used to simulate the grasp dynamics in Simscape, and then analyse the obtained grasps in SynGrasp. The devised functions and blocks can be easily customized to simulate different hands and objects. |
| first_indexed | 2024-04-13T22:06:49Z |
| format | Article |
| id | doaj.art-08ae04c5c2ae46c3a25c0d725312fdb0 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-04-13T22:06:49Z |
| publishDate | 2022-05-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-08ae04c5c2ae46c3a25c0d725312fdb02022-12-22T02:27:56ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442022-05-01910.3389/frobt.2022.873558873558Modeling and Simulation of Robotic Grasping in Simulink Through Simscape MultibodyMaria Pozzi0Gabriele Maria Achilli1Maria Cristina Valigi2Monica Malvezzi3Department of Information Engineering and Mathematics, University of Siena, Siena, ItalyDepartment of Engineering, University of Perugia, Perugia, ItalyDepartment of Engineering, University of Perugia, Perugia, ItalyDepartment of Information Engineering and Mathematics, University of Siena, Siena, ItalyGrasping and dexterous manipulation remain fundamental challenges in robotics, above all when performed with multifingered robotic hands. Having simulation tools to design and test grasp and manipulation control strategies is paramount to get functional robotic manipulation systems. In this paper, we present a framework for modeling and simulating grasps in the Simulink environment, by connecting SynGrasp, a well established MATLAB toolbox for grasp simulation and analysis, and Simscape Multibody, a Simulink Library allowing the simulation of physical systems. The proposed approach can be used to simulate the grasp dynamics in Simscape, and then analyse the obtained grasps in SynGrasp. The devised functions and blocks can be easily customized to simulate different hands and objects.https://www.frontiersin.org/articles/10.3389/frobt.2022.873558/fullrobotic graspingrobotic handsmultibody simulationsoft robotic handssimulinksimscape |
| spellingShingle | Maria Pozzi Gabriele Maria Achilli Maria Cristina Valigi Monica Malvezzi Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody Frontiers in Robotics and AI robotic grasping robotic hands multibody simulation soft robotic hands simulink simscape |
| title | Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody |
| title_full | Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody |
| title_fullStr | Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody |
| title_full_unstemmed | Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody |
| title_short | Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody |
| title_sort | modeling and simulation of robotic grasping in simulink through simscape multibody |
| topic | robotic grasping robotic hands multibody simulation soft robotic hands simulink simscape |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2022.873558/full |
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