ETD system

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Tesi etd-11252010-012008


Thesis type
Tesi di laurea specialistica
Author
BRANCHETTI, MIRKO
URN
etd-11252010-012008
Title
Modelling, Optimization and Control of Biomorphic Hands
Struttura
INGEGNERIA
Corso di studi
INGEGNERIA DELLA AUTOMAZIONE
Commissione
relatore Prof. Bicchi, Antonio
relatore Ing. Gabiccini, Marco
Parole chiave
  • Hand Biomorphic Optimization
Data inizio appello
17/12/2010;
Consultabilità
completa
Riassunto analitico
In this thesis, we present a general framework to model and control a class of biomorphically designed systems for robotic manipulation. Such system, are composed of a set of rigid bodies, interacting through unilateral rolling contact, and are actuated by a net of elastic tendons. Method based on convex analysis are applied to study this class of mechanisms, and are shown to provide a basis for the dynamic control of co-contraction and internal forces that guarantee the correct operation of the system, despite limited friction between contacting surfaces or object fragility. An algorithm is described<br>and tested that integrate a computed torque law, and allows to control tendon actuators to optimally comply with the prescribed constraints.
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