This paper introduces ModGrasp, an open-source virtual and physical rapid-prototyping framework that allows for the design, simulation and control of low-cost sensorised modular hands. By combining the rapid-prototyping approach with the modular concept, different manipulator configurations can be modelled. A real-time one-to-one correspondence between virtual and physical prototypes is established. Different control algorithms can be implemented for the models. By using a low-cost sensing approach, functions for torque sensing at the joint level, sensitive collision detection and joint compliant control are possible. A 3-D visualization environment provides the user with an intuitive visual feedback. As a case study, a three-fingered modular manipulator is presented. Related simulations are carried out to validate efficiency and flexibility of the proposed rapid-prototyping framework.

F., S., H., Z., K. Y., P., Salvietti, G., & Prattichizzo, D. (2014). ModGrasp: An open-source rapid-prototyping framework for designing low-cost sensorised modular hands. In 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (pp.951-957). IEEE [10.1109/BIOROB.2014.6913903].

ModGrasp: An open-source rapid-prototyping framework for designing low-cost sensorised modular hands

SALVIETTI, GIONATA;PRATTICHIZZO, DOMENICO
2014

Abstract

This paper introduces ModGrasp, an open-source virtual and physical rapid-prototyping framework that allows for the design, simulation and control of low-cost sensorised modular hands. By combining the rapid-prototyping approach with the modular concept, different manipulator configurations can be modelled. A real-time one-to-one correspondence between virtual and physical prototypes is established. Different control algorithms can be implemented for the models. By using a low-cost sensing approach, functions for torque sensing at the joint level, sensitive collision detection and joint compliant control are possible. A 3-D visualization environment provides the user with an intuitive visual feedback. As a case study, a three-fingered modular manipulator is presented. Related simulations are carried out to validate efficiency and flexibility of the proposed rapid-prototyping framework.
9781479931262
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11365/966462
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