Multibody models are widely employed to predict the behavior of underactuated components. However, the comparison with experimental data is highly desirable to validate the simulation results. In this context, vision techniques represent a valuable tool to prove theoretical data. Vision techniques can be adopted to monitor underactuated components without affect their dynamics. In this study, a multibody model validation is presented combining simulations and vision data. The system is constituted by an underactuated finger that belongs to an anthropomorphic mechanical hand.
Underactuated finger behavior correlation between vision system based experimental tests and multibody simulations / Cosenza, Chiara; Niola, Vincenzo; Savino, Sergio. - 66:(2019), pp. 49-56. (Intervento presentato al convegno 4th IFToMM Symposium on Mechanism Design for Robotics) [10.1007/978-3-030-00365-4_7].
Underactuated finger behavior correlation between vision system based experimental tests and multibody simulations
Cosenza, Chiara;Niola, Vincenzo;Savino, Sergio
2019
Abstract
Multibody models are widely employed to predict the behavior of underactuated components. However, the comparison with experimental data is highly desirable to validate the simulation results. In this context, vision techniques represent a valuable tool to prove theoretical data. Vision techniques can be adopted to monitor underactuated components without affect their dynamics. In this study, a multibody model validation is presented combining simulations and vision data. The system is constituted by an underactuated finger that belongs to an anthropomorphic mechanical hand.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
