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Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody
Maria Pozzi1, Gabriele Maria Achilli2, Maria Cristina Valigi2
1Department of Information Engineering and Mathematics, University of Siena, Siena, Italy.
Frontiers in Robotics and AI
|June 17, 2022
Summary
This study introduces a new framework for simulating robotic hand grasps. It integrates MATLAB and Simulink tools to test grasp control strategies, advancing robotic manipulation capabilities.
Area of Science:
- Robotics
- Mechanical Engineering
- Computer Science
Background:
- Dexterous manipulation and grasping with multifingered robotic hands present significant challenges in robotics.
- Effective simulation tools are crucial for designing and validating grasp and manipulation control strategies for functional robotic systems.
Purpose of the Study:
- To present a novel framework for modeling and simulating grasps within the Simulink environment.
- To enhance the design and testing process for robotic manipulation control strategies.
Main Methods:
- The framework integrates SynGrasp, a MATLAB toolbox for grasp analysis, with Simscape Multibody, a Simulink library for physical system simulation.
- This connection allows for the simulation of grasp dynamics in Simscape and subsequent analysis in SynGrasp.
Main Results:
- The developed framework enables the simulation of grasp dynamics and analysis of grasp performance.
- The system provides customizable functions and blocks for simulating various robotic hands and objects.
Conclusions:
- The proposed framework offers a powerful and flexible approach to simulating robotic grasps and manipulation.
- This integration facilitates the development and refinement of advanced robotic manipulation systems.
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