Dynamic Simulation of Enveloping Power Grasps
نویسندگان
چکیده
A dynamic simulation method for enveloping power grasps is presented. The method very eeectively models all major grasp conditions and phenomena to achieve a realistic simulation of power grasp. A compliant contact model is developed to solve the static in-determinacy problem in multiple-contact power grasp. A dynamic simulation algorithm is developed based on a discrete-time, state variable approach. The algorithm models friction, rolling, slipping, and wedging eeects, as well as the changing topological structure of power grasp dynamics. The simulation algorithm is implemented for the DIGITS Grasping System , and results of quasi-static and dynamic stability experiments are discussed.
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