基于EtherCAT的机械手多指动力学分析

2014 10th International Conference on Natural Computation (ICNC) Pub Date : 2014-12-08 DOI:10.1109/ICNC.2014.6975987

Mingxin Hou, Li Jiang, M. Jin, Hong Liu, Zhaopeng Chen

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引用次数: 7

摘要

本文提出了一个多指动力学模型，该模型包含一个单指动力学模型方程和一个基于拉格朗日乘法器控制器的手指间约束方程。为了验证该模型，基于FPGA开发了EtherCAT主从平台。同时，在TwinCAT中设计了多指动态算法。最后，通过实验验证了该策略可以通过在线抓取对象实现和操作。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Analysis of the multi-finger dynamics for robot hand system based on EtherCAT

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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2014 10th International Conference on Natural Computation (ICNC)

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