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Grasing Experiment Progress

Below is a link to our recent progress with grasping experiments performed on the grasping testbed defined below:

Grasping Experiment Progress

We have transitioned to a new controller built with ROS and OWD

Experimental Grasping Testbed using Matlab/Simulink

As a research project in the lab, we have created an experimental test bed for grasping. It currently consists of three main parts: 1) Simulink controller for the Barrett arm/hand, 2) Matlab code for interfacing with the tracking system, and 3) a Grasp Database for storing and retrieving grasp data. All of the code runs either in Matlab or on the xPC Target machine. There is a whole suite of utilities available in the grasp folder on the lab computer. This includes code for computing the forward kinematics, computing the Jacobian, grabbing frames from the tracking system, sending arm joint/Cartesian space moves, sending hand commands, and importing/exporting to the database. To get an idea for some of the research that is going on, you can have a look at the grasp database at On this wiki page, you will find some information and documentation to help you get started using the system in the lab.

The first thing you should do is to become familiar with the Barrett hardware and OptiTrack tracking system. You can start by reading the following manuals more or less in this order. Most of these are also available at or

Here are some presentations that have been given on this research.

Here is John Behmer's MS thesis, which explains all of the technical aspects of this work in much more detail.

Finally, here is a link to some wiki pages we have set up to help you get started using this software. Again, it is probably best to go through them in this order.

Topic attachments
I Attachment Action Size Date Who Comment
Arm_CommandReference.pdfpdf Arm_CommandReference.pdf manage 20.0 K 10 May 2011 - 15:38 UnknownUser  
Arm_DHParams.pdfpdf Arm_DHParams.pdf manage 89.5 K 10 May 2011 - 15:39 UnknownUser  
Arm_InertiaSpecifications.pdfpdf Arm_InertiaSpecifications.pdf manage 394.8 K 10 May 2011 - 15:39 UnknownUser  
Arm_QuickStartGuide.pdfpdf Arm_QuickStartGuide.pdf manage 66.0 K 10 May 2011 - 15:38 UnknownUser  
Arm_UsersManual.pdfpdf Arm_UsersManual.pdf manage 1237.0 K 10 May 2011 - 15:38 UnknownUser  
HandBlack_UsersManual.pdfpdf HandBlack_UsersManual.pdf manage 1962.3 K 10 May 2011 - 15:39 UnknownUser  
Hand_UsersManual.pdfpdf Hand_UsersManual.pdf manage 6223.0 K 10 May 2011 - 15:40 UnknownUser  
Software_UserManual.pdfpdf Software_UserManual.pdf manage 352.9 K 10 May 2011 - 15:41 UnknownUser  
System_UserManual.pdfpdf System_UserManual.pdf manage 1270.8 K 10 May 2011 - 15:41 UnknownUser  
WAM4.confconf WAM4.conf manage 9.9 K 10 May 2011 - 15:41 UnknownUser  
WAM7.confconf WAM7.conf manage 16.8 K 10 May 2011 - 15:41 UnknownUser  
nems_matlab_wam.pdfpdf nems_matlab_wam.pdf manage 502.2 K 10 May 2011 - 16:18 UnknownUser  
preso_thesis.pdfpdf preso_thesis.pdf manage 1108.7 K 10 May 2011 - 16:05 UnknownUser  
simulink_preso.pdfpdf simulink_preso.pdf manage 115.9 K 10 May 2011 - 16:18 UnknownUser  
Topic revision: r4 - 14 Sep 2012, vorsth@RPI.EDU

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