Controlling a Robot Hand in Simulation and Reality

A number of projects have been done around one of the most fascinating and complex part of the human body, the hand. This useful tool is able to perform a lot of different grasps like lifting, holding and squeezing various objects. For the majority of men the ability to use this tool seems pretty obvious. But for others this opportunity seems far away as an effect of war or inherent disability. One of the reasons behind the research in robot hands is to recreate mechanical copies, prosthesis, which can replace this important body part. Another important application is as a gripper for robots in the industry to place or move components in place on an assembly line. A third area of application for the robot hand is in dangerous or extreme environments as under water or in chemical surroundings.


1 Introduction
1.1 Background
1.1.1 Motivation
1.1.2 Related Works
1.1.3 This Project
1.2 Project Specification
1.2.1 Hand Project
1.2.2 This Project
1.3 Limitations
1.4 Structure
1.5 Notation
2 Simulation
2.1 Usage
2.2 Finger and Hand Overview
2.3 GraspIt!
2.4 Finger Models
2.4.1 Finger Kinematics
2.4.2 Finger Dimensions
2.4.3 Finger Forces
2.5 Hand Simulation
2.6 Hand Model Characteristics
2.7 Graphic Model
2.8 Contact detection
3 Controller
3.1 Method
3.2 Formulas
3.3 Dual Mode
3.4 Examples
3.4.1 Position Control
3.4.2 Position and Force Control
4 Implementation
4.1 Software
4.2 Hardware
4.3 User Interface
5 Motion limitations
6 Lessons Learned
6.1 Software
6.2 Hardware
7 Result
8 Ideas for Further Work
9 References
10 List of Figures

Author: Birgestam, Magnus

Source: Linköping University

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