Analyzing, Modeling and Simulation of Humanoid Robot Hand Motion

被引：13
作者：
Virgala, Ivan [1 ]
Kelemen, Michal [1 ]
Varga, Martin [2 ]
Kurylo, Piotr [3 ]
机构：
[1] Tech Univ Kosice, Fac Mech Engn, Dept Mechatron, Letna 9, Kosice 04200, Slovakia
[2] ZTS VVU KOSICE, Kosice 04124, Slovakia
[3] Univ Zielona Gora, PL-65247 Zielona Gora, Poland
来源：
MODELLING OF MECHANICAL AND MECHATRONIC SYSTEMS | 2014年 / 96卷
关键词：
humanoid hand; mathematical model; matlab; simulation;
D O I：
10.1016/j.proeng.2014.12.121
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The paper deals with analyzing, modeling and simulation of motion of humanoid robot hand. At first, the human hand is introduced from the view of biology with focus on bones and joints. Particulars places of motion are replaced by corresponding mechanical joints. Subsequently the kinematic configuration of humanoid hand consisting of 24 degrees of freedom is designed. New method for inverse kinematic model is introduced using Matlab functions. Next, dynamic model of humanoid hand is introduced using model-based design by means of Matlab / SimMechanics. The result of the work is model in Matlab, which can control of particular fingers motion. (C) 2014 The Authors. Published by Elsevier Ltd.
引用
收藏
页码：489 / 499
页数：11
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