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 http://grasp.robotics.cs.rpi.edu/
. 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 http://wiki.barrett.com/support
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.