TY - JOUR
T1 - A hybrid system approach toward modeling and dynamical simulation of dextrous manipulation
AU - Schlegl, Thomas
AU - Buss, Martin
AU - Schmidt, Günther
N1 - Funding Information:
Manuscript received August, 2001; revised June, 2003. This work was supported, in part, by the German Research Foundation (DFG) under the “KONDISK” priority research program. T. Schlegl is with Siemens VDO Automotive AG, 93055 Regensburg, Germany (e-mail: [email protected]). M. Buss is with the Control Systems Group, Technical University Berlin, 10587 Berlin, Germany. G. Schmidt is with the Institute of Automatic Control Engineering, Tech-nische Universität München, 80290 Munich, Germany. Digital Object Identifier 10.1109/TMECH.2003.816803 Fig. 1. Continuous dynamical and discrete-event aspects of dextrous manipulation.
PY - 2003/9
Y1 - 2003/9
N2 - This paper presents an approach toward comprehensive discrete-continuous modeling and accurate dynamical simulation of dextrous manipulation. The resulting hybrid-state model integrates time-driven mechanical features of manipulation systems as well as their discrete-event aspects resulting from varying contact situations. It can easily be embedded into sophisticated simulation environments. A MATLAB implementation serves us a tool for mechatronic control design for grasping systems. Results from dynamical simulations or a four-fingered hand grasping and manipulating an object demonstrate the efficiency and high accuracy of our approach.
AB - This paper presents an approach toward comprehensive discrete-continuous modeling and accurate dynamical simulation of dextrous manipulation. The resulting hybrid-state model integrates time-driven mechanical features of manipulation systems as well as their discrete-event aspects resulting from varying contact situations. It can easily be embedded into sophisticated simulation environments. A MATLAB implementation serves us a tool for mechatronic control design for grasping systems. Results from dynamical simulations or a four-fingered hand grasping and manipulating an object demonstrate the efficiency and high accuracy of our approach.
KW - Dextrous manipulation
KW - Dynamical simulation
KW - Hybrid discrete-continuous systems
KW - Mechatronic control design
KW - Multifingered grasping
UR - https://www.scopus.com/pages/publications/0141919501
U2 - 10.1109/TMECH.2003.816803
DO - 10.1109/TMECH.2003.816803
M3 - Article
AN - SCOPUS:0141919501
SN - 1083-4435
VL - 8
SP - 352
EP - 361
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 3
ER -