Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody

Pozzi, María; Achilli, Gabriele Maria; Valigi, Maria Cristina; Malvezzi, Monica

doi:10.3389/frobt.2022.873558

Cited by 11 publications

(4 citation statements)

References 53 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Moreover, the object's CAD model can be imported with all its physical properties and the dynamics of the system can be observed. Simscape Multibody software's primary use is to analyze and visualize system functioning and control design in Simulink [35], [36]. Fig.…”

Section: B the Robotic Arm Modulementioning

confidence: 99%

Object Detection-based Automatic Waste Segregation using Robotic Arm

Ibrahim¹,

Shoitan²,

Moussa³

et al. 2023

IJACSA

View full text Add to dashboard Cite

Today's overpopulation and fast urbanization present a significant challenge for developing countries in the form of excessive garbage generation. Managing waste is essential in creating sustainable and habitable communities, but it remains an issue for developing countries. Finding an efficient smart waste management system is a challenge in current research. In recent years, robots and artificial intelligence have influenced a wide range of industries, especially waste management. This research proposes a waste segregation system that integrates the robot arm and YOLOv6 object detection model to automatically sort the garbage according to its type and achieve real-time requirements. The proposed algorithm utilizes the pros of the hardware-friendly architecture of YOLOv6 while keeping high detection accuracy in detecting and classifying garbage. Moreover, the proposed system creates a 3D model of a 4 DOF robotic arm by CAD tools. A new approach based on a geometric method is proposed to solve the inverse kinematics problem in order to precisely calculate the proper angles of the robot arm's joints via a unique solution with less computational time. The proposed system is evaluated on a modified TrashNet dataset with seven garbage classes. The experiments reveal that the proposed algorithm outperforms the other recent YOLO models in terms of precision, recall, F1 score, and model size. Furthermore, the proposed algorithm consumes approximately fractions of a second for picking up and placing a single object in its proper basket.

show abstract

Section: B the Robotic Arm Modulementioning

confidence: 99%

Object Detection-based Automatic Waste Segregation using Robotic Arm

Ibrahim¹,

Shoitan²,

Moussa³

et al. 2023

IJACSA

View full text Add to dashboard Cite

show abstract

“…In fact, Simscape Multibody has already been successfully used in the field of robotics to build models of articulated [9][10][11][12][13][14][15][16][17], parallel [18,19], mobile [20,21] and legged robots [22,23]. It has also been used to test a robot dynamic parameter identification method in [24], to test robot control strategies in [25][26][27][28], to model and simulate a multi-fingered robot arm grasping [29] and to design a 5 degrees of freedom manipulator for additive manufacturing in [30]. However, previous studies using Simscape Multibody have mostly focused on the kinematic modeling of robots, neglecting its dynamic modeling and the inclusion of non-idealities, friction, reduction gears, and motor dynamics.…”

Section: Introductionmentioning

confidence: 99%

Designing Digital Twins of Robots Using Simscape Multibody

Boschetti,

Sinico

2024

Robotics

View full text Add to dashboard Cite

Digital twins of industrial and collaborative robots are widely used to evaluate and predict the behavior of manipulators under different control strategies. However, these digital twins often employ simplified mathematical models that do not fully describe their dynamics. In this paper, we present the design of a high-fidelity digital twin of a six degrees-of-freedom articulated robot using Simscape Multibody, a Matlab toolbox that allows the design of robotic manipulators in a rather intuitive and user-friendly manner. This robot digital twin includes joint friction, transmission gears, and electric actuators dynamics. After assessing the dynamic accuracy of the Simscape model, we used it to test a computed torque control scheme, proving that this model can be reliably used in simulations with different aims, such as validating control schemes, evaluating collaborative functions or minimizing power consumption.

show abstract

“…Manipulators are essential elements of robots which are constituted of a mechanical structure with a terminal element known as end-effector. The end-effector has the effective responsibility of interacting with the object to be manipulated (Melchiorri and Kaneko, 2008;Carbone, 2012;Pozzi et al, 2022).…”

Section: Introductionmentioning

confidence: 99%

Contact mechanics analysis of a soft robotic fingerpad

et al. 2022

Self Cite

View full text Add to dashboard Cite

The precision grasping capabilities of robotic hands is a key feature which is more and more required in the manipulation of objects in several unstructured fields, as for instance industrial, medical, agriculture and food industry. For this purpose, the realization of soft robotic fingers is crucial to reproduce the human finger skills. From this point of view the fingerpad is the part which is mostly involved in the contact. Particular attention must be paid to the knowledge of the mechanical contact behavior of soft artificial fingerpads. In this paper, artificial silicone fingerpads are applied to the last phalanx of robotic fingers actuated by tendons. The mechanical interaction between the fingerpad and a flat surface is analyzed in terms of deformations, contact areas and indentations. A reliable model of fingertip deformation properties provides important information for understanding robotic hand performance, that can be useful both in the design phase and for defining control strategies. The approach is based on theoretical, experimental, and numerical methods. The results will be exploited for the design of more effective robotic fingers for precision grasping of soft or fragile objects avoiding damages.

show abstract

Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody

Cited by 11 publications

References 53 publications

Object Detection-based Automatic Waste Segregation using Robotic Arm

Object Detection-based Automatic Waste Segregation using Robotic Arm

Designing Digital Twins of Robots Using Simscape Multibody

Contact mechanics analysis of a soft robotic fingerpad

Contact Info

Product

Resources

About