Optimal control simulations of two-finger grasps
| Autor: | Michael Roller, Sigrid Leyendecker, Uday Phutane |
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| Přispěvatelé: | Publica |
| Rok vydání: | 2022 |
| Předmět: |
Computer science
Mechanical Engineering Bioengineering Optimal control Robot end effector Dynamical system Action (physics) Computer Science Applications law.invention Computer Science::Robotics Mechanics of Materials Control theory law Variational principle Integrator Trajectory Boundary value problem |
| Zdroj: | Mechanism and Machine Theory. 167:104508 |
| ISSN: | 0094-114X |
| DOI: | 10.1016/j.mechmachtheory.2021.104508 |
| Popis: | Grasping is a complex human activity performed with readiness through a complicated mechanical system as an end effector, i.e. the human hand. Here, we apply a direct transcription method of discrete mechanics and optimal control with constraints (DMOCC) to reproduce human-level grasping of an object with a three-dimensional model of the hand, actuated through joint control torques. The equations of motions describing the hand dynamics are derived from a discrete variational principle based on a discrete action functional, which gives the time integrator structure-preserving properties. The grasping action is achieved through a series of constraints, which generate a hybrid dynamical system with a given switching sequence and unknown switching times. To determine a favourable trajectory for grasping action, we solve an optimal control problem (OCP) with different physiological objectives subject to discrete Euler–Lagrange equations, boundary conditions and path constraints. |
| Databáze: | OpenAIRE |
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