Modeling and control design of a multifingered robot hand for object grasping and manipulation tasks
Autor(a) principal: | |
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Data de Publicação: | 2016 |
Tipo de documento: | Trabalho de conclusão de curso |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UFRJ |
Texto Completo: | http://hdl.handle.net/11422/18198 |
Resumo: | In this work, we address the problem of kinematic modeling and control design of a multifingered robot hand. Each robot finger is modeled as a parallel manipulator and its kinematic constraints are computed from empirical analysis due to the inherent mechanical complexity of the mechanism. The motion control problem for a grasped object is solved by using the kinematic control approach, which is able to ensure the asymptotic stability of the output tracking error and appropriate prehension of the object. The kinematics-based control scheme is designed to include the contact model in the hand Jacobian matrix, allowing for the simultaneous control of the object position as well as the relative position between the fingers. Additionally, we also deal with the problem of controlling the 3D Cartesian position of an object of known geometry grasped by the robot hand using the visual servoing approach. A video camera and a depth sensor are simultaneously used to provide visual positioning and depth information of the grasped object. The design of the visual servoing controller is also based on the kinematic control approach, and two visual servo controllers are developed in the image space, ensuring the zero-convergence of the output tracking errors and high disturbance-rejection capability. Simulations and experiments are carried out with a three-fingered robot hand and a Microsoft Kinect sensor, illustrating the performance and effectiveness of the proposed methodology |
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Reis, Matheus Ferreira dosLizarralde, Fernando CesarCosta, Ramon RomankeviciusZachi, Alessandro Rosa LopesLeite, Antonio Candea2022-08-05T18:18:41Z2023-11-30T03:05:07Z2016-03http://hdl.handle.net/11422/18198Submitted by Luís Vittor Minda Santos (vittorminda.santos@gmail.com) on 2021-06-02T21:06:57Z No. of bitstreams: 1 monopoli10017301-min.pdf: 2171409 bytes, checksum: 7716e48899f29242d0dd4fea712f7eda (MD5)Approved for entry into archive by Moreno Barros (moreno@ct.ufrj.br) on 2022-08-05T18:18:41Z (GMT) No. of bitstreams: 1 monopoli10017301-min.pdf: 2171409 bytes, checksum: 7716e48899f29242d0dd4fea712f7eda (MD5)Made available in DSpace on 2022-08-05T18:18:41Z (GMT). No. of bitstreams: 1 monopoli10017301-min.pdf: 2171409 bytes, checksum: 7716e48899f29242d0dd4fea712f7eda (MD5) Previous issue date: 2016-03In this work, we address the problem of kinematic modeling and control design of a multifingered robot hand. Each robot finger is modeled as a parallel manipulator and its kinematic constraints are computed from empirical analysis due to the inherent mechanical complexity of the mechanism. The motion control problem for a grasped object is solved by using the kinematic control approach, which is able to ensure the asymptotic stability of the output tracking error and appropriate prehension of the object. The kinematics-based control scheme is designed to include the contact model in the hand Jacobian matrix, allowing for the simultaneous control of the object position as well as the relative position between the fingers. Additionally, we also deal with the problem of controlling the 3D Cartesian position of an object of known geometry grasped by the robot hand using the visual servoing approach. A video camera and a depth sensor are simultaneously used to provide visual positioning and depth information of the grasped object. The design of the visual servoing controller is also based on the kinematic control approach, and two visual servo controllers are developed in the image space, ensuring the zero-convergence of the output tracking errors and high disturbance-rejection capability. Simulations and experiments are carried out with a three-fingered robot hand and a Microsoft Kinect sensor, illustrating the performance and effectiveness of the proposed methodologyengUniversidade Federal do Rio de JaneiroUFRJBrasilEscola PolitécnicaCNPQ::ENGENHARIASRobot ModelingMultifingered Robot HandsKinematic ControlVisual Servoing ControlModeling and control design of a multifingered robot hand for object grasping and manipulation tasksModelagem e design de controle de uma mão de robô com vários dedos para tarefas de manipulação e apreensão de objetosinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bachelorThesisabertoinfo:eu-repo/semantics/openAccessreponame:Repositório Institucional da UFRJinstname:Universidade Federal do Rio de Janeiro (UFRJ)instacron:UFRJORIGINALmonopoli10017301-min.pdfmonopoli10017301-min.pdfapplication/pdf2171409http://pantheon.ufrj.br:80/bitstream/11422/18198/1/monopoli10017301-min.pdf7716e48899f29242d0dd4fea712f7edaMD51LICENSElicense.txtlicense.txttext/plain; charset=utf-81853http://pantheon.ufrj.br:80/bitstream/11422/18198/2/license.txtdd32849f2bfb22da963c3aac6e26e255MD5211422/181982023-11-30 00:05:07.34oai:pantheon.ufrj.br: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Repositório de PublicaçõesPUBhttp://www.pantheon.ufrj.br/oai/requestopendoar:2023-11-30T03:05:07Repositório Institucional da UFRJ - Universidade Federal do Rio de Janeiro (UFRJ)false |
dc.title.pt_BR.fl_str_mv |
Modeling and control design of a multifingered robot hand for object grasping and manipulation tasks |
dc.title.alternative.pt_BR.fl_str_mv |
Modelagem e design de controle de uma mão de robô com vários dedos para tarefas de manipulação e apreensão de objetos |
title |
Modeling and control design of a multifingered robot hand for object grasping and manipulation tasks |
spellingShingle |
Modeling and control design of a multifingered robot hand for object grasping and manipulation tasks Reis, Matheus Ferreira dos CNPQ::ENGENHARIAS Robot Modeling Multifingered Robot Hands Kinematic Control Visual Servoing Control |
title_short |
Modeling and control design of a multifingered robot hand for object grasping and manipulation tasks |
title_full |
Modeling and control design of a multifingered robot hand for object grasping and manipulation tasks |
title_fullStr |
Modeling and control design of a multifingered robot hand for object grasping and manipulation tasks |
title_full_unstemmed |
Modeling and control design of a multifingered robot hand for object grasping and manipulation tasks |
title_sort |
Modeling and control design of a multifingered robot hand for object grasping and manipulation tasks |
author |
Reis, Matheus Ferreira dos |
author_facet |
Reis, Matheus Ferreira dos |
author_role |
author |
dc.contributor.advisorCo1.none.fl_str_mv |
Lizarralde, Fernando Cesar |
dc.contributor.author.fl_str_mv |
Reis, Matheus Ferreira dos |
dc.contributor.referee1.fl_str_mv |
Costa, Ramon Romankevicius |
dc.contributor.referee2.fl_str_mv |
Zachi, Alessandro Rosa Lopes |
dc.contributor.advisor1.fl_str_mv |
Leite, Antonio Candea |
contributor_str_mv |
Costa, Ramon Romankevicius Zachi, Alessandro Rosa Lopes Leite, Antonio Candea |
dc.subject.cnpq.fl_str_mv |
CNPQ::ENGENHARIAS |
topic |
CNPQ::ENGENHARIAS Robot Modeling Multifingered Robot Hands Kinematic Control Visual Servoing Control |
dc.subject.por.fl_str_mv |
Robot Modeling Multifingered Robot Hands Kinematic Control Visual Servoing Control |
description |
In this work, we address the problem of kinematic modeling and control design of a multifingered robot hand. Each robot finger is modeled as a parallel manipulator and its kinematic constraints are computed from empirical analysis due to the inherent mechanical complexity of the mechanism. The motion control problem for a grasped object is solved by using the kinematic control approach, which is able to ensure the asymptotic stability of the output tracking error and appropriate prehension of the object. The kinematics-based control scheme is designed to include the contact model in the hand Jacobian matrix, allowing for the simultaneous control of the object position as well as the relative position between the fingers. Additionally, we also deal with the problem of controlling the 3D Cartesian position of an object of known geometry grasped by the robot hand using the visual servoing approach. A video camera and a depth sensor are simultaneously used to provide visual positioning and depth information of the grasped object. The design of the visual servoing controller is also based on the kinematic control approach, and two visual servo controllers are developed in the image space, ensuring the zero-convergence of the output tracking errors and high disturbance-rejection capability. Simulations and experiments are carried out with a three-fingered robot hand and a Microsoft Kinect sensor, illustrating the performance and effectiveness of the proposed methodology |
publishDate |
2016 |
dc.date.issued.fl_str_mv |
2016-03 |
dc.date.accessioned.fl_str_mv |
2022-08-05T18:18:41Z |
dc.date.available.fl_str_mv |
2023-11-30T03:05:07Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/bachelorThesis |
format |
bachelorThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/11422/18198 |
url |
http://hdl.handle.net/11422/18198 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.publisher.none.fl_str_mv |
Universidade Federal do Rio de Janeiro |
dc.publisher.initials.fl_str_mv |
UFRJ |
dc.publisher.country.fl_str_mv |
Brasil |
dc.publisher.department.fl_str_mv |
Escola Politécnica |
publisher.none.fl_str_mv |
Universidade Federal do Rio de Janeiro |
dc.source.none.fl_str_mv |
reponame:Repositório Institucional da UFRJ instname:Universidade Federal do Rio de Janeiro (UFRJ) instacron:UFRJ |
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Universidade Federal do Rio de Janeiro (UFRJ) |
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UFRJ |
institution |
UFRJ |
reponame_str |
Repositório Institucional da UFRJ |
collection |
Repositório Institucional da UFRJ |
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Repositório Institucional da UFRJ - Universidade Federal do Rio de Janeiro (UFRJ) |
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1784097206274359296 |