SynGrasp工具箱简笔

1. 手爪建模：提供了四种机器人手模型。彷人手、三指手、模块化手、DLR/HIT二代手。

2. 抓取建模和规划：抓取手爪构型、接触点、抓取雅克比矩阵计算、可控的内力子空间、刚性物体运行、可操作的椭圆可以被评估。

3.抓取分析：提供了不同的抓取质量评估指标。包括优化的力分布，而且考虑了欠驱动手的关节耦合和手爪柔顺性，允许执行运动的和力操作能力分析。

About SynGrasp

SynGrasp is a new Matlab Toolbox on “Underactuated Robotic Grasping” developed at the University of Siena.

The main features of the SynGrasp toolbox are:

Hand modeling: robotic hand models can be easily defined. Four hand models are already available: an anthropomorphic hand, a 3-fingered hand, a modular hand and the DLR/HIT II Hand.
Grasp modelling and planning: the grasping hand configuration, contact points, Grasp and Jacobian matrices can be computed. Controllable internal force subspace, rigid-body motion, manipulability ellipsoids can be evaluated.
Grasp analysis: different grasp quality measures are available in the toolbox. Tools for the evaluation of the optimal force distribution are provided. Furthermore, the toolbox allows to perform kinematic and force manipulability analysis, taking into account the joint coupling induced by the underactuation and hand compliance.
Graphics: a set of functions have been designed to simplify the graphical representation of the manipulator. These functions can be used together with built-in Matlab functions to render the hands in contact with objects of arbitrary shapes. Moreover motions due to synergy activation can be visualized.

Visit the “How to Contribute” page to contribute to SynGrasp developement.

Developers:
Monica Malvezzi, Guido Gioioso, Gionata Salvietti, Domenico Prattichizzo

vanusy