Progettazione e Controllo di Mani Robotiche

Scarcia, Umberto (2015) Progettazione e Controllo di Mani Robotiche, [Dissertation thesis], Alma Mater Studiorum Università di Bologna. Dottorato di ricerca in Automatica e ricerca operativa, 27 Ciclo. DOI 10.6092/unibo/amsdottorato/7085.
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The application of dexterous robotic hands out of research laboratories has been limited by the intrinsic complexity that these devices present. This is directly reflected as an economically unreasonable cost and a low overall reliability. Within the research reported in this thesis it is shown how the problem of complexity in the design of robotic hands can be tackled, taking advantage of modern technologies (i.e. rapid prototyping), leading to innovative concepts for the design of the mechanical structure, the actuation and sensory systems. The solutions adopted drastically reduce the prototyping and production costs and increase the reliability, reducing the number of parts required and averaging their single reliability factors. In order to get guidelines for the design process, the problem of robotic grasp and manipulation by a dual arm/hand system has been reviewed. In this way, the requirements that should be fulfilled at hardware level to guarantee successful execution of the task has been highlighted. The contribution of this research from the manipulation planning side focuses on the redundancy resolution that arise in the execution of the task in a dexterous arm/hand system. In literature the problem of coordination of arm and hand during manipulation of an object has been widely analyzed in theory but often experimentally demonstrated in simplified robotic setup. Our aim is to cover the lack in the study of this topic and experimentally evaluate it in a complex system as a anthropomorphic arm hand system.

Tipologia del documento
Tesi di dottorato
Scarcia, Umberto
Dottorato di ricerca
Scuola di dottorato
Scienze e ingegneria dell'informazione
Settore disciplinare
Settore concorsuale
Parole chiave
dexterous manipulation, robotic grippers, gripper, ub hand, dexmart, trident, maris, twisted string, optical sensors, underwater robotics, arm hand coordination, manipulation planning, manipulability index, humanoid robotics,
Data di discussione
10 Aprile 2015

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