Modelling friction phenomena in an underactuated tendon driven finger by means of vision system device data

This study aims to improve the simulation model of a tendon driven finger, by means of experimental data acquired with a vision device. This mechanical system is part of an underactuated mechanical hand that was developed also for prosthetic purpose: the “Federica” hand. Using measured data, the multibody model has been enriched to account for friction phenomena. The friction contribution is designed to make the multibody simulation results closer to those of the real finger dynamics. At the same time, it is possible to use the improved model to study the effects of friction phenomena on the dynamic behaviour of the real mechanical system

Underactuated finger behavior correlation between vision system based experimental tests and multibody simulations

Multibody models are widely employed to predict the behavior of underactuated components. However, the comparison with experimental data is highly desirable to validate the simulation results. In this context, vision techniques represent a valuable tool to prove theoretical data. Vision techniques can be adopted to monitor underactuated components without affect their dynamics. In this study, a multibody model validation is presented combining simulations and vision data. The system is constituted by an underactuated finger that belongs to an anthropomorphic mechanical hand

Redundancy analysis of cooperative dual-arm manipulators

This paper presents the redundancy analysis of two cooperative manipulators, showing how they can be considered as a single redundant manipulator through the use of the relative Jacobian matrix. In this way, the kinematic redundancy can be resolved by applying the principal local optimization techniques used in the single manipulator case. We resolve the redundancy by using the Jacobian null space technique, which permits us to perform several tasks with different execution priority levels at the same time; this is a useful feature, especially when the manipulators are to be mounted on and cooperate with a mobile platform. As an illustrative example, we present a case study consisting of two planar manipulators mounted on a smart wheelchair, whose degrees of redundancy are employed to move an object along a pre-defined path, while avoiding an obstacle in the manipulator’s workspace at the same time

A novel augmented reality-based interface for robot path planning

10.1007/s12008-013-0191-2International Journal on Interactive Design and Manufacturing8133-4