e_GRASP: Robotic Hand Modeling and Simulation Environment

Abstract

-Uses the ODE (Open Dynamics Engine) library for accurate physics simulation.-Creates AVI or MPEG simulation movies for web and public presentations.-Includes many examples with controller source code and models of commercially available robots.-Lets you simulate multi-agent systems, with global and local communication facilities", Olivier [5].Gourdeau [6] has indicated that, "Using an object-oriented programming approach, ROBOOP, a robotic manipulator simulation package which is both platform and vendor independent, compares favorably against a package requiring similar coding effort", Gourdeau [6]. In fact, he also indicated that, the performance tests show that with ROBOOP, the routine (with a class), inverse dynamics of a 6-DOF robot was made faster, can be computed and simulated in less than (5 ms) with a Pentium (100 MHz) computer.Ramasamy and Arshad, [7] have both developed a robotic hand simulator. They indicated that "This robotic hand simulation is divided into three main parts. The main objective is to design a three dimensional graphic of a robotic hand and its movement animation AbstractModeling and simulation of robotics hands are significant topics that have been looked into by many robotics Specialists and programming experts. This is due to a demand to build a friendly platform for analyzing proposed hand design and movements, earlier to hand physical construction. For meeting such demands, a dexterous robotic hand software simulator was synthesized. The developed code is dexterity characterized robotic hand modeling and simulation software environment. The simulator was developed for robotics hands research purposes. This manuscript is presenting a brief documentation of such a modeling and simulating environment for simulating dynamic movements of multi-finger robotics hand. The environment is named as the e_GRASP. To make use of other supporting environments, e_GRASP is a Mat lab based simulator, with a quite large number of linked functionalities and routines that helps in simulating hand movements in a defined 3D space. e_GRASP was built after a number of years of experience while dealing with robot hands, hence it is a comprehensive Mat lab based Toolbox that makes use of other Mat lab defined Toolboxes. e_GRASP can also be interfaced to real-time hand control, with an ability to be linked with even higher levels of hierarchy. This includes Mat lab AI Tools, optimization, as considered useful toolboxes for dexterous hands for grasping and manipulation.

PCA Learning for Non-brain Waves-Controlled Robotic Hand (Prosthesis): Grasp Stabilization and Control

“…Figure 6. e_GRASP simulator, Mattar [9], interfaced to ANFIS decision system, after PCA learning of possible hand and fingers configs.…”