Grasping and dexterous manipulation remain fundamental challenges in robotics, above all when performed with multifingered robotic hands. Having simulation tools to design and test grasp and manipulation control strategies is paramount to get functional robotic manipulation systems. In this paper, we present a framework for modeling and simulating grasps in the Simulink environment, by connecting SynGrasp, a well established MATLAB toolbox for grasp simulation and analysis, and Simscape Multibody, a Simulink Library allowing the simulation of physical systems. The proposed approach can be used to simulate the grasp dynamics in Simscape, and then analyse the obtained grasps in SynGrasp. The devised functions and blocks can be easily customized to simulate different hands and objects.

Pozzi, M., Achilli, G.M., Valigi, M.C., Malvezzi, M. (2022). Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody. FRONTIERS IN ROBOTICS AND AI, 9 [10.3389/frobt.2022.873558].

Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody

Pozzi, Maria
;
Malvezzi, Monica
2022

Abstract

Grasping and dexterous manipulation remain fundamental challenges in robotics, above all when performed with multifingered robotic hands. Having simulation tools to design and test grasp and manipulation control strategies is paramount to get functional robotic manipulation systems. In this paper, we present a framework for modeling and simulating grasps in the Simulink environment, by connecting SynGrasp, a well established MATLAB toolbox for grasp simulation and analysis, and Simscape Multibody, a Simulink Library allowing the simulation of physical systems. The proposed approach can be used to simulate the grasp dynamics in Simscape, and then analyse the obtained grasps in SynGrasp. The devised functions and blocks can be easily customized to simulate different hands and objects.
Pozzi, M., Achilli, G.M., Valigi, M.C., Malvezzi, M. (2022). Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody. FRONTIERS IN ROBOTICS AND AI, 9 [10.3389/frobt.2022.873558].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/1216475