Bond Graph Modeling and Simulation of a Dexterous Hand
نویسندگان
چکیده
This paper presents a methodology for dynamic modeling and trajectory tracking of a dexterous hand. Firstly, the kinematic model is set up based on modified D-H principle. Then we employ an energy-based approach for modeling and its bond graph notation ensures encapsulation of functionality, extendibility and reusability of each element of the model. A toolbox BG V.2.1 in Matlab/Simulink is used for simulation and validation. Simulation results are performed to illustrate the efficacy of the proposed dynamic model. Keywords—Dexterous hand, bond graph modeling, trajectory tracking
منابع مشابه
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