Mingxin Hou, Li Jiang, M. Jin, Hong Liu, Zhaopeng Chen
{"title":"Analysis of the multi-finger dynamics for robot hand system based on EtherCAT","authors":"Mingxin Hou, Li Jiang, M. Jin, Hong Liu, Zhaopeng Chen","doi":"10.1109/ICNC.2014.6975987","DOIUrl":null,"url":null,"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.","PeriodicalId":208779,"journal":{"name":"2014 10th International Conference on Natural Computation (ICNC)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 10th International Conference on Natural Computation (ICNC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICNC.2014.6975987","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 7
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.
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