E-020
Modular Dynamic Modeling and Simulation of Grasping
Authors: Gianni Ferretti, GianAntonio Magnani, Paolo Rocco
Affiliation: Department of Electronics and Information
Abstract
A new point contact model, suitable for dynamic modeling and simulation of complete
grasping tasks, is discussed in this paper. The model is applicable to an arbitrary
number of contacts and is local to the point of contact, thus allowing a modular
approach to grasp systems modeling. The model, based on an extension of the LUGRE
friction model, allows also accounting for microscale phenomena such as microsliding
displacements. Some simulation results are discussed showing the effectiveness of
the model in assessing the performance of a grasp control system.
Prof. Gianni Ferretti
Politecnico di Milano
Dipartimento di Elettronica e Informazione
Piazza L. da Vinci 32
20133 Milano Italy
Tel.: +39 2 2399 3682
Fax: +39 2 2399 3412
Sede di Cremona:
Tel.: +39 372 411020
ferretti@elet.polimi.it